Apparatuses and methods for grinding runners of skates

Abstract

A runner grinding apparatus for grinding (i.e., machining), such as to sharpen and / or profile, a runner (i.e., blade) of a skate, in which the runner grinding apparatus enables convenient and efficient sharpening and / or profiling of the runner, such as by being portable, user-friendly (e.g., with electronically-controlled retention and release of the runner), performant (e.g., with precise and quick grinding of the runner), low-maintenance (e.g., with components remaining calibrated), and / or otherwise simple to use and well-performing.

Description

[0001] APPARATUSES AND METHODS FOR GRINDING RUNNERS OF SKATES

[0002] FIELD

[0003] This application relates generally to apparatuses and methods for grinding (i.e. , machining), such as to sharpen and / or profile, blades (i.e., “runners”) of ice skates.

[0004] BACKGROUND

[0005] An ice skate, such as those used for hockey, speed skating, figure skating and other skating activities, has a blade (or “runner”) with an ice-contacting surface that comes into contact with ice on which a skater skates.

[0006] Runners require regular sharpening to create sharp edges against the ice. In some cases, runners may also be profiled to impart them with desired longitudinal shapes (i.e., profiles). Such sharpening and / or profiling is typically done by grinding the runners with grinding machines. These grinding machines may be found at skating rinks (e.g., arenas), retailers, and other locations which may not always be practical. Furthermore, grinding with these machines often depends on a level of skill of their operator.

[0007] Accordingly, improvements in runner grinding apparatus would be welcomed, including to make them more practical, convenient, and / or independent from a level of skill of their users to achieve satisfactory grinding of runners.

[0008] SUMMARY

[0009] According to various aspects, there is provided a runner grinding apparatus for grinding (i.e., machining), such as to sharpen and / or profile, a runner (i.e., blade) of a skate, in which the runner grinding apparatus enables convenient and efficient sharpening and / or profiling of the runner, such as by being portable, user-friendly (e.g., with electronically-controlled retention and release of the runner), performant (e.g., with precise and quick grinding of the runner), low-maintenance (e.g., with components remaining calibrated), and / or otherwise simple to use and well-performing.

[0010] For example, according to one aspect, there is provided a grinding apparatus for grinding a runner of a skate. The grinding apparatus comprises: a clamping mechanism including a clamp configured to clamp the runner; a grinding mechanism including an abrasive element movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a controller configured to control the clamping mechanism and the grinding mechanism. According to another aspect, there is provided a method of operating a grinding apparatus to grind a runner of a skate. The method comprises: electronically controlling a clamping mechanism including a clamp configured to clamp the runner; and electronically controlling a grinding mechanism including an abrasive element movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp.

[0011] According to another aspect, there is provided a grinding apparatus for grinding a runner of a skate. The grinding apparatus comprises: a clamping mechanism including a clamp configured to clamp the runner; a grinding mechanism including a grinding wheel movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a controller configured to control the grinding mechanism. The controller is configured to control movement of the grinding wheel along an X axis substantially parallel to a longitudinal axis of the runner and movement of the grinding wheel along a Y axis orthogonal to the X axis.

[0012] According to another aspect, there is provided a method of operating a grinding apparatus to grind a runner of a skate. The method comprises: clamping the runner with a clamp of the grinding apparatus; and electronically controlling movement of a grinding wheel of the grinding apparatus along an X axis substantially parallel to a longitudinal axis of the runner and movement of the grinding wheel along a Y axis orthogonal to the X axis.

[0013] According to another aspect, there is provided a grinding apparatus for grinding a runner of a skate. The grinding apparatus comprises: a clamping mechanism including a clamp configured to clamp the runner; a grinding mechanism including a grinding wheel movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a controller configured to control the grinding mechanism. The grinding wheel remains aligned with a centerline of the clamp laterally for at least twenty sharpening passes of the grinding wheel on the runner.

[0014] According to another aspect, there is provided a method of operating a grinding apparatus to grind a runner of a skate. The method comprises: clamping the runner with a clamp of the grinding apparatus; and sharpening the runner with a grinding wheel of the grinding apparatus movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp. The grinding wheel remains aligned with a centerline of the clamp laterally for at least twenty sharpening passes of the grinding wheel on the runner. According to another aspect, there is provided a grinding apparatus for grinding a runner of a skate. The grinding apparatus comprises: a clamping mechanism including a clamp configured to clamp the runner; a grinding mechanism including a grinding wheel movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a controller configured to control the grinding mechanism, including to: move the grinding wheel along at least part of the runner without the grinding wheel grinding the runner, and then move the grinding wheel along at least part of the runner while the grinding wheel grinds the runner.

[0015] According to another aspect, there is provided a method of operating a grinding apparatus to grind a runner of a skate. The method comprises: clamping the runner with a clamp of the grinding apparatus; moving a grinding wheel of the grinding apparatus along at least part of the runner without the grinding wheel grinding the runner, and then moving the grinding wheel along at least part of the runner while the grinding wheel grinds the runner.

[0016] According to another aspect, there is provided a method of controlling an abrasive element used in a runner grinding apparatus. The method comprises: causing the abrasive element to contact a surface of a runner having a first end and a second end; causing the abrasive element to travel towards the first end of the runner while remaining in contact with the surface of the runner; tracking a path of the abrasive element as the abrasive element travels towards the first end of the runner; and determining where the path meets a predetermined geometric condition.

[0017] According to another aspect, there is provided a method of controlling an abrasive element used in a runner grinding apparatus. The method comprises: causing the abrasive element to grind a surface of a runner, the runner having a first end and a second end; causing the abrasive element to travel towards the first end of the runner while grinding the surface of the runner; tracking displacement of the abrasive element as it travels towards the first end of the runner; causing the abrasive element to cease contact with the surface of the runner in response to the displacement reaching a predetermined value.

[0018] According to another aspect, there is provided a method of controlling an abrasive element used in a runner grinding apparatus, The method comprises: causing the abrasive element to contact a surface of a runner having a first end and a second end; causing the abrasive element to travel towards the first end of the runner while remaining in contact with the surface of the runner; tracking a path of the abrasive element as the abrasive element travels towards the first end of the runner; determining where the path meets a predetermined geometric condition; causing the abrasive element to travel towards the first end of the runner while grinding the surface of the runner; tracking displacement of the abrasive element as it travels towards the first end of the runner; causing the abrasive element to cease contact with the surface of the runner in response to the displacement reaching a predetermined value, wherein the predetermined value corresponds to the displacement of the abrasive element where the path meets the predetermined geometric condition.

[0019] According to another aspect, there is provided a method of signaling wear state of an abrasive element. The method comprises: grinding a runner with the abrasive element; measuring a physical parameter resulting from grinding the runner; determining the wear state of the abrasive element based at least on the physical parameter and predetermined values associated with corresponding wear states of the abrasive element; and outputting a signal indicative of the determined wear state of the abrasive element or storing the determined wear state of the abrasive element in a non-transitory memory medium.

[0020] According to another aspect, there is provided a method of signaling wear state of an abrasive element. The method comprises: applying a radius of hollow to a runner using the abrasive element; measuring a physical parameter resulting from the applying the radius of hollow to the runner; determining said wear state of the abrasive element based at least on the physical parameter and predetermined values associated with corresponding wear states of the abrasive element; and outputting a signal indicative of the determined wear state of the abrasive element or storing the determined wear state of the abrasive element in a non-transitory memory medium.

[0021] According to another aspect, there is provided a grinding apparatus for grinding a runner of a skate. The grinding apparatus comprises: a runner-retaining mechanism including a clamp configured to clamp the runner; a grinding mechanism including an abrasive element movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a control system configured to control the grinding mechanism and configured to measure a physical parameter resulting from grinding of the runner by the grinding mechanism, determine a state of the abrasive element based at least on the physical parameter resulting from grinding of the runner by the grinding mechanism, and cause an indication of the state of the abrasive element to be stored in a non-transitory memory medium or output on a user interface.

[0022] According to another aspect, there is provided a grinding apparatus for grinding a runner of a skate. The grinding apparatus comprises: a runner-retaining mechanism including a clamp configured to clamp the runner; a grinding mechanism including an abrasive element movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a control system configured to control the grinding mechanism and configured to determine a state of the abrasive element independently of a number of grinding operations performed by the abrasive element, and cause an indication of the state of the abrasive element to be stored in a non-transitory memory medium or output on a user interface.

[0023] According to another aspect, there is provided a method of signaling wear state of an abrasive element. The method comprises: grinding a runner with the abrasive element; measuring a change in a characteristic of the runner before the grinding and after the grinding; determining the wear state of the abrasive element based at least on the change in the characteristic of the runner and predetermined changes associated with corresponding wear states of the abrasive element; and outputting a signal indicative of the determined wear state of the abrasive element or storing the determined wear state of the abrasive element in a non-transitory memory medium.

[0024] According to another aspect, there is provided a method of determining wear state of an abrasive element. The method comprises: measuring a change in height of a longitudinally extending runner resulting from at least one longitudinal grinding pass involving the abrasive element; processing the change in height with data stored in a non-transitory memory to obtain an inferred wear state of the abrasive element; and outputting a signal indicative of the inferred wear state or storing data indicative of the inferred wear state in the non-transitory memory medium.

[0025] According to another aspect, there is provided a method of determining wear state of an abrasive element. The method comprises: obtaining vibration measurements from a sensor coupled to the abrasive element during a grinding operation of a runner; comparing the vibration measurements to stored vibration measurements associated with different wear states of the abrasive element; and outputting a result of the comparing or storing the result in a non-transitory memory medium.

[0026] These and other aspects will now become apparent to those of ordinary skill in the art upon review of the following description of embodiments in conjunction with the accompanying drawings.

[0027] BRIEF DESCRIPTION OF DRAWINGS

[0028] A detailed description of embodiments is provided below, by way of example only, with reference to drawings annexed hereto, in which:

[0029] Figs. 1 to 7 show an embodiment of a runner grinding apparatus for grinding a runner of a skate; Figs. 8 to 12 show a plurality of internal components of the runner grinding apparatus, including a clamp and a grinding wheel, with the runner retained by the clamp;

[0030] Figs. 13 to 18 show the internal components of the runner grinding apparatus with the runner removed from the runner grinding apparatus;

[0031] Figs. 19 and 20 show an arrangement for aligning the grinding wheel with the clamp;

[0032] Figs. 21 to 28 show various components of the runner grinding apparatus and / or its interaction with an external communication device;

[0033] Figs. 29 and 30 show an embodiment of the grinding wheel;

[0034] Fig. 31 is a view of a coordinate space set by the runner;

[0035] Figs. 32A to 32D are enlarged views of end portions of the runner in variants;

[0036] Fig. 33 is a view of the grinding wheel contacting an initial point on the runner during a calibration phase;

[0037] Fig. 34 is a view of the grinding wheel traveling from the initial point to a first end of the runner during the calibration phase;

[0038] Fig. 35 is a view of a path of the grinding wheel meeting a first predetermined geometric condition during the calibration phase;

[0039] Fig. 36 is a view of the grinding wheel traveling from the first end to a second end of the runner during the calibration phase;

[0040] Fig. 37 is a view of the path of the grinding wheel meeting a second predetermine geometric condition during the calibration phase;

[0041] Fig. 38 is flowchart of an embodiment of a method for controlling the grinding wheel of the runner grinding apparatus;

[0042] Fig. 39 is a view of the grinding wheel traveling from a first point to the first end of the runner during a grinding phase; Fig. 40 is a view of the grinding wheel traveling from the first end of the runner to the second end of the runner during a grinding phase;

[0043] Fig. 41 is a view of a path of the grinding wheel meeting the first predetermined geometric condition during the calibration phase, the runner being tilted forward and loaded into the runner grinding apparatus;

[0044] Fig. 42 is a conversion of coordinates from one coordinate space to another;

[0045] Figs. 43 and 44 are flowcharts of embodiments of other methods for controlling the grinding wheel of the runner grinding apparatus;

[0046] Figs. 45 to 49 are flowcharts of embodiments of methods for assessing a wear state of the grinding wheel of the runner grinding apparatus;

[0047] Fig. 50 shows an embodiment of the skate;

[0048] Fig. 51 A shows an embodiment of the runner;

[0049] Fig. 51 B shown the runner worn from use;

[0050] Figs. 52 to 55 show other embodiments of the runner;

[0051] Fig. 56 is a cross-sectional view of the runner of Fig. 51 A taken at a longitudinal mid-point of the runner;

[0052] Figs. 57A to 57E show variants of the runner with a variety of radii of curvature; and

[0053] Fig. 58 is a cross-sectional view of the runner of Fig. 51 B taken at the longitudinal mid-point of the runner.

[0054] In the drawings, embodiments are illustrated by way of example. It is to be expressly understood that the description and drawings are only for purposes of illustration and as an aid to understanding and are not intended to be and should not be limitative.

[0055] DETAILED DESCRIPTION OF EMBODIMENTS

[0056] Figs. 1 to 7 show an embodiment of a runner grinding apparatus 2000 for grinding (i.e., machining), such as to sharpen and / or profile, a runner 52 (i.e., blade) of a skate 10. In this embodiment, as further discussed below, the runner grinding apparatus 2000 enables convenient and efficient sharpening and / or profiling of the runner 52, such as by being portable, user-friendly (e.g., with electronically-controlled retention and release of the runner 52), performant (e.g., with precise and quick grinding of the runner 52), low-maintenance (e.g., with components remaining calibrated), and / or otherwise simple to use and well-performing.

[0057] An embodiment of the skate 10 for a user (i.e., a “skater”) to skate on ice 13 is shown in Fig. 50. The skate 10 comprises a skate boot 11 for receiving a foot of the user of the skate, the runner 52 (i.e., blade) for contacting the ice 13, and a runner holder 28 between the skate boot 10 and the runner 52 for holding the runner 52.

[0058] In this example, the skate 10 is a hockey skate for the skater who is a hockey player playing hockey on the ice 13. Fig. 51 A shows an embodiment of the runner 52h of a hockey skate. In other embodiments, the skate 10 may be a figure skate for the skater who is a figure skater skating on the ice 13. Fig. 52 shows an embodiment of the runner 52f for a figure skate. In yet other embodiments, the skate 10 may be a speed skate for the skater who is a speed skater skating on the ice 13. Fig. 53 shows an embodiment of the runner 52sfor a speed skate. In yet other embodiments, the skate 10 may be a bandy skate, a touring skate or any other skate for skating on the ice 13. Reference to the runner “52” herein is made generically (to generally refer to any runner including runners 52h, 52f, 52s, unless otherwise indicated). For ease of reference, features of the runner 52 that are common to the runners 52h, 52f, 52s, will be ascribed the same reference numerals when referencing the runners 52h, 52f, 52s.

[0059] As the skate 10 is used, the runner 52 usually becomes worn. Wear of the runner 52 causes gradual blunting of edges of the runner 52. Thus, the runner 52 must be sharpened periodically or otherwise processed (e.g., profiled) by a runner grinding apparatus, such as the runner grinding apparatus 2000 which will be described in further detail below.

[0060] Referring to Fig. 51 A, the runner 52 comprises a first end 27 and a second end 29. In this embodiment, the first end 27 of the runner 52 may be generally located at a front 41 of a skate 10 such that the first end 27 may also be referred to as a “toe end” of the runner 52. In this embodiment, the second end 29 of the runner 52 may be generally located at a rear 45 of the skate 10 such that the second end 29 may also be referred to as a “heel end” of the runner 52. The runner 52 extends in a longitudinal orientation between the first end 27 and the second end 29 (i.e., the runner 52 is elongate along a longitudinal axis 59 as shown in Fig. 51 A). The distance between the first and second ends 27, 29 of the runner 52 can be referred to as the length of the runner 52, denoted L. A longitudinal mid-point 49 of the runner 52 can also be defined as being half-way between the first and second ends 27, 29 of the runner 52. In some cases, the longitudinal mid-point 49 of the runner 52 may be identified by a mark on the runner 52.

[0061] With continued reference to Fig. 51 A (which shows a side view of the runner 52) and with reference to Fig. 56 (which shows a cross-sectional view at the longitudinal mid-point 49 of the runner 52), the runner 52 includes ice-contacting material 140 which defines a lateral surface 148 and an opposite lateral surface 143. The ice-contacting material 140 includes an ice-contacting surface 127 for sliding on ice 13 while the skater skates, as well as for digging into the ice 13 to provide traction when the skater accelerates, decelerates or changes directions. The runner 52 also comprises a top surface 125 that is opposed to the ice-contacting surface 127. The icecontacting surface 127 lies in a plane with a normal that is perpendicular to the normal of the lateral surfaces 148, 143 of the runner 52. The runner 52 comprises a thickness tb which is defined as the distance between the lateral surfaces 148, 143. A transverse midplane 91 may be defined mid-way between the lateral surfaces 148, 143.

[0062] In some embodiments, as shown in Fig. 54, the runner 52 may comprise a plurality of connectors 1851 , 1852 to connect the runner 52 to the runner holder 28 of the skate 10. More particularly, the connectors 185i, 1852 extend upwardly from the top surface 125 of the runner 52. In the embodiment shown, the connectors 185i, 1852 comprise hooks 30i, 302 that project upwardly from the top surface 125 of the runner 52, with the hook 30i being a front hook and the hook 3O2 being a rear hook. The connectors 185i , 1852 may be configured in any other suitable fashion.

[0063] In this embodiment, the ice-contacting material 140 is a metallic material (e.g., stainless steel, titanium). The ice-contacting material 140 may be any other suitable material in other embodiments. Also, in this embodiment, an entirety of the runner 52 is made of the ice-contacting material 140.

[0064] In some variants, the runner 52 may be made of different materials or combinations of materials. These include metal-and-polymer hybrid (where the polymer may be purely polymeric or fiber- reinforced) and coated metal where the coating may include a carbide, nitride, oxide, etc.

[0065] For example, the runner 52 may include a plurality of different materials M1-M3 disposed in different areas of the runner 52 and connected to each other, as shown in Fig. 55. For example, the material M may be disposed in a first portion 1 10 of the runner 52, the materials M2 and Ms may be disposed in a second portion 1 14 of the runner 52 secured to the first portion 110 of the runner 52. In the illustrated embodiment, the material Mi is a polymeric material 151 and the materials M2, M3are metallic materials 150. For instance, the material Mi may be a composite material comprising a polymeric matrix 120 and fibers 122i-122F disposed in the polymeric matrix 120.

[0066] The polymeric matrix 120 may include any suitable substance (e.g., resin). For instance, in some examples, the polymeric matrix 120 may include a thermoplastic or thermosetting resin, such as epoxy, polyethylene, polypropylene, acrylic, thermoplastic polyurethane (TPU), polyether ether ketone (PEEK) or other polyaryletherketone (PAEK), polyethylene terephthalate (PET), polyvinyl chloride (PVC), poly(methyl methacrylate) (PMMA), polycarbonate, acrylonitrile butadiene styrene (ABS), nylon, polyimide, polysulfone, polyamide-imide, self-reinforcing polyphenylene, polyester, vinyl ester, vinyl ether, polyurethane, cyanate ester, phenolic resin, etc., a hybrid thermosetting-thermoplastic resin, or any other suitable resin. In this embodiment, the polymeric matrix 120 includes an epoxy resin.

[0067] The fibers 122i-122F may be made of any suitable material such as carbon fiber, polymeric fibers such as aramid fibers (e.g., Kevlar fibers), boron fibers, silicon carbide fibers, metallic fibers, glass fibers, ceramic fibers, etc. The fibers 122i-122F may be oriented in any suitable fashion and may have a continuous configuration.

[0068] In the case of a coated runner 52, the coating may comprise a thin film coating of any suitable thickness. The thin film may be deposited using techniques know in the art such as physical vapor deposition (PVD) or plasma assisted chemical vapor deposition (PACVD) for example.

[0069] The thin film coating may comprise a carbon-based top layer. A number of underlayers may be provided, between the substrate and the carbon-based top layer. The underlayers may be in metals, such as Cr, Ti, TiAl, Ni and W for example; nitrides, such as CrN, TiN and TiAIN for example; oxides; carbides; or they can be siliceous or carbon based layers for example (a-C:H (DLC), ta-C, WCC, ...). Other materials having a low friction coefficient may be contemplated, such as solid film lubricants or polymers such as PTFE for example.

[0070] In some embodiments, the runner 52 may include one or more annotations to identify the model of the runner 52 or the manufacturer of the runner 52. The one or more annotations may comprise a marking, an etching, a quick response (QR) code, a barcode or any other suitable means to identify the runner 52. The ice-contacting surface 127 of the runner 52 is not flat, but rather is curved. This allows the skate 10 to tilt forward or backward with respect to the ice 13, which gives the skater agility when taking off or changing directions. As can be seen from Fig. 51 A, the first and second ends 27, 29 are curved upwards such that the first end 27 of the runner 52 includes a curved region 35 and the second end 29 of the runner 52 includes a curved region 37. The ice-contacting surface 127 defines a contour of the ice-contacting material 140 when viewed from the side as in Fig. 51 A; such contour is referred to as a “longitudinal profile” LP of the runner 52. A balance point 99 of the runner 52 may be defined as the lowest point along the contour of the runner 52. In some cases, the balance point 99 corresponds to the longitudinal mid-point 49 of the runner 52. In other cases, the balance point 99 does not correspond to the longitudinal mid-point 49 of the runner 52. The longitudinal profile LP may have a generally convex shape and the transverse profile TP may have a generally concave shape.

[0071] When viewed in cross-section as in Fig. 56, the ice-contacting surface 127 also defines a contour referred to as a “transverse profile” TP of the runner 52. The transverse profile TP may have the shape of an arc (convex or concave) with a radius referred to as a “radius of hollow” 88. By way of certain examples, as shown in Figs. 57A-57E, the radius of hollow 88 may vary from 3 / 8” to 1 ” (shown in this case for a .12” thick runner 52). Other radii of hollow 88 and runner thicknesses tb are of course possible. In some cases, the average radius of curvature of the transverse profile TP may be vary from ” to 2”.

[0072] With continued reference to Fig. 56, the runner 52 comprises a first edge 55 and a second edge 57 opposing the first edge 55. As indicated above, as the skate 10 is used, the wear of the runner 52 causes gradual blunting of the edges of the runner 52. Referring now to Fig. 58, there is shown a runner 52wwhich is substantially worn, with the edges 55, 57 of the worn runner 52wthat appear blunted. Additionally, the edges 55, 57 are unlevel (i.e., the edges 55, 57 are not symmetrical about the transverse midplane 91 of the runner 52w). Moreover, the radius of hollow 88 of the runner 52wappears “flattened.” Thus, excess material 63 of the ice-contacting material 140 of the ice-contacting surface 127 of the worn runner 52wmust be removed to restore the edges 55, 57 and the radius of hollow 88.

[0073] Accordingly, it is necessary to machine the transverse profile TP of the runner 52 (e.g., to grind for sharpening the runner 52) and apply the radius of hollow 88. To machine the transverse profile TP of the runner 52 and apply the radius of hollow 88, the runner grinding apparatus 2000 may be used. Grinding the runner 52 with the runner grinding apparatus 2000 causes the runner 52 to become shaped in the widthwise direction (perpendicularly to the longitudinal direction) with a “transverse profile” TP. Grinding the runner 52 with the runner grinding apparatus 2000 removes excess material from the ice-contacting surface 127 of the runner 52 such that the runner 52 is ground. Additionally or alternatively, in some cases, the runner 52 may be ground with the runner grinding apparatus 2000 to become shaped in its longitudinal direction with a desired longitudinal profile LP, a grinding operation that may be referred to as “profiling” the runner 52.

[0074] With renewed reference now to Figs. 1 to 7, the runner grinding apparatus 2000 has a housing 2080 containing various components which will be discussed in further detail below. The runner grinding apparatus 2000 is shown extending in a longitudinal orientation between a first end 2081 of the housing 2080 of the runner grinding apparatus 2000 and a second end 2082 of the housing 2080 of the runner grinding apparatus 2000. The housing 2080 of the runner grinding apparatus 2000 comprises a frame 2078 supporting various components and includes a lower surface 2083, an upper surface 2084, a front surface 2085 and a rear surface 2086.

[0075] The longitudinal orientation of the runner grinding apparatus 2000 extends along an x-direction of the runner grinding apparatus 2000 defined by an “X axis”. A y-direction of the runner grinding apparatus 2000 is defined by a “Y axis” perpendicular to the X axis. A z-direction of the runner grinding apparatus 2000 is defined by a “Z axis” perpendicular to both the X axis and the Y axis.

[0076] In this embodiment, the runner grinding apparatus 2000 is portable. That is, the runner grinding apparatus 2000 is manually carriable by a single individual, so as to be transported between various locations (e.g., a residence, a skating rink, etc.). The runner grinding apparatus 2000 is therefore sized and relatively lightweight such that is it can be readily carried by an average person. For example, in some embodiments, a length of the runner grinding apparatus 2000 may be no more than 1 .2 m, in some cases no more than 1 m, and in some cases no more than 0.8 m, and / or a weight of the runner grinding apparatus 2000 may be no more than 18 kg, in some cases no more than 15 kg, and in some cases no more than 12 kg. For instance, in this embodiment, the runner grinding apparatus 2000 may be 760 x 310 x 170 mm and weigh 11.3 kg.

[0077] With additional reference to Figs. 8 to 28, in this embodiment, the runner grinding apparatus 2000 includes a clamping mechanism 2010 for clamping the runner 52. The runner grinding apparatus 2000 also includes a grinding mechanism 2020 which comprises a grinding element 2021 , i.e., an abrasive element. In this embodiment, the grinding element 2021 is a grinding wheel. Another type of grinding element (e.g., a grinding belt, a milling device, a laser cutting device, a water cutting device, etc.) may be used in other embodiments. Removal of excess material of the icecontacting material 140 from the runner 52 is achieved when the grinding wheen 2021 contacts the ice-contacting surface 127 of the runner 52 from underneath the runner 52. As such, the runner grinding apparatus 2000 includes a carriage 2030 for allowing relative movement between the clamping mechanism 2010 (which holds the runner 52) and the grinding mechanism 2020.

[0078] The runner grinding apparatus 2000 also includes a control system 2048 comprising a controller 2050 for controlling operation thereof (e.g., including grinding operations, interactions with a user, etc.). In this embodiment, the controller 2050 comprises a user interface 2055 configured to interact (e.g., receive commands and / or other inputs from and / or provide information to) a user who desires to use the runner grinding apparatus 2000. The user interface 2055 comprises an input portion including one or more input devices (e.g., a touchscreen, a set of buttons, levers, dials, a microphone, etc.) allowing the user to input commands and / or other information into the runner grinding apparatus 2000 and an output portion including one or more output devices (e.g., a display, a speaker, etc.) to provide information to the user. More particularly, in this embodiment, the user interface 2055 comprises a screen 2056 that implements a graphical user interface (GUI) providing graphical elements for interaction with the user, including graphical buttons and / or other graphical input elements actuatable by the user to control operation of the runner grinding apparatus 2000 as well as graphical alphanumeric characters, counters, charts, gauges, and / or other graphical output elements displaying information to the user.

[0079] In this embodiment, the runner grinding apparatus 2000 is powered by an external power source. More particularly, in this embodiment, the runner grinding apparatus 2000 comprises a power supply 2018 connectable to an electric outlet via an electric cable. In other embodiments, the power supply 2018 of the runner grinding apparatus 2000 may comprise a battery (e.g., a rechargeable or replaceable battery), so that the runner grinding apparatus 2000 may be usable without power from an external power source.

[0080] The clamping mechanism 2010 includes a runner-receiving portion 2013 for receiving a runner 52 loaded in the runner grinding apparatus 2000 and a clamp 2016 comprising one or more retaining elements 2011 to retain the runner 52 loaded in the runner grinding apparatus 2000. The clamping mechanism 2010 also includes a clamp-actuating mechanism 2040 for actuating the clamp 2016 to retain the runner 52 in the clamping mechanism 2010 or to release the runner 52 from the clamping mechanism 2010. The clamping mechanism 2010 may also include a runner-centering mechanism 2014 for longitudinally and I or laterally center the runner 52 within the clamping mechanism 2010.

[0081] To remove some of the ice-contacting material 140 to sharpen (and / or profile) it, the runner 52 is loaded in the runner-receiving portion 2013 of the clamping mechanism 2010 and brought into contact with the grinding wheel 2021 of the grinding mechanism 2020 such that the runner 52 contacts the grinding wheel 2021 and such that the grinding wheel 2021 removes material from the ice-contacting surface 127 of the runner 52.

[0082] In this embodiment, the runner-receiving portion 2013 of the clamping mechanism 2010 is configured as a slot 2012 which provides access to the grinding mechanism 2020 and the runner 52 is received in the slot 2012 of the clamping mechanism 2010.

[0083] In some embodiments, the runner-receiving portion 2013 of the clamping mechanism 2010 may be configured such that it reduces access to the moving parts of the runner grinding apparatus 2000 and, thus, reduces incidences of injury to a user of the runner grinding apparatus 2000. In this embodiment, at least part of the runner-receiving portion 2013 may be covered by a protective element 2017 (e.g., a cover or shield) to block dust and / or debris generated during the grinding operation from hitting the user or to prevent the user from reaching into the runner grinding apparatus 2000 through the runner-receiving portion 2013 with their hands during certain sequences in the operation of the runner grinding apparatus 2000. For instance, in some cases, the protective element 2017 may be made of flexible material (e.g., rubber) to facilitate loading and unloading of the runner 52 into and from the runner-receiving portion 2013 (i.e., facilitate insertion of the runner 52 into and removal of the runner 52 from the runner-receiving portion 2013).

[0084] In this embodiment, the one or more retaining elements 201 1 of the clamp 2016 are configured to contact the lateral surfaces 148, 143 of the runner 52 to secure the runner 52 within the clamping mechanism 2010. Additionally or alternatively, in other embodiments, the one or more retaining elements 2011 may be configured to contact the first and second ends 27, 29 of the runner 52 to secure the runner 52 within the clamping mechanism 2010.

[0085] More particularly, in this embodiment, the one or more retaining elements 201 1 comprise two plates configured to contact the lateral surfaces 148, 143 of the runner 52. In this case, the one or more retaining elements 201 1 comprise a first blade contacting surface 5115 and a second blade contacting surface 51 16 each configured to contact the lateral surfaces 148, 143 of the runner 52 and to retain the runner 52 by applying pressure to the lateral surfaces 148, 143 of the runner 52. In some embodiments, the first and second blade contacting surfaces 51 15, 51 16 may comprise material configured to increase their frictional engagement with the lateral surfaces 148, 143 of the runner 52 when contacting the lateral surfaces 148, 143 of the runner 52. The one or more retaining elements 201 1 may comprise any suitable material (e.g., a metallic material, a polymeric material, etc.).

[0086] In this example, both of the retaining elements 201 1 are movable towards each other to retain the runner 52 within the runner-receiving portion 2013 of the clamping mechanism 2010. In other examples, a first retaining elements 2011 may be fixed with respect to the runner grinding apparatus 2000 and a second retaining element 201 1 may be movable towards the first retaining elements 201 1 to retain the runner 52 (or vice-versa) within the runner-receiving portion 2013 of the clamping mechanism 2010.

[0087] The one or more retaining elements 201 1 may be adjustable to accommodate a variety of runners 52 (e.g., a variety of blade thicknesses tb, a variety of blade lengths L, one runner 52 or a plurality of runners 52). For example, the one or more retaining elements 201 1 may be movable with respect to each other or with respect to the runner 52 to accommodate a variety of runners 52. Also, while in some cases only one runner 52 is loaded into and retained by the retaining elements 2011 of the clamp 2016 and grinded by the grinding wheel 2021 , in other cases two or more runners 52 may be loaded into and retained by the retaining elements 2011 of the clamp 2016 simultaneously so that these two or more runners 52 are grinded simultaneously by the grinding wheel 2021 .

[0088] The clamp-actuating mechanism 2040 is provided for actuating the clamp 2016 to retain or release the runner 52. The clamp-actuating mechanism 2040 may cooperate with the runnercentering mechanism 2014 to longitudinally and / or laterally center the runner 52 within the clamping mechanism 2010. Specifically, the runner-centering mechanism 2104 may cause the one or more retaining elements 2011 to longitudinally and / or laterally center the runner 52 within the clamping mechanism 2010 with respect to the runner-receiving portion 2013 of the clamping mechanism 2010. The clamp-actuating mechanism 2040 may cooperate with the runnercentering mechanism 2014 to automatically longitudinally and / or laterally center the runner 52 within the clamping mechanism 2010. In this embodiment, as further discussed below, the clampactuating mechanism 2040 comprises an actuator 2042 (e.g., a motor or linear actuator) configured to move the clamp 2016 for retaining or releasing the runner 52 based on one or more signals from the controller 2050, which can be generated in response to input to the controller 2050 from a user and / or one or more sensors of the control system 2048.

[0089] The grinding operation of the runner 52 involves relative movement of the grinding mechanism 2020 and the runner 52.

[0090] In this embodiment, the carriage 2030 is configured to translate the grinding mechanism 2020 longitudinally (along the X-axis) while the runner 52 remains longitudinally fixed with respect to the housing 2080 of the runner grinding apparatus 2000. Also, the grinding mechanism 2020 may be configured to move in one or more directions (i.e. , x-direction, y-direction, z-direction).

[0091] More particularly, in this embodiment, the carriage 2030 is configured to translate the grinding mechanism 2020 longitudinally (along the X-axis) to remove excess material of the runner 52. In this case, the grinding wheel 2021 is fixed relative to the carriage 2030 along the X axis. In other embodiments, the grinding wheel 2021 may be movable relative to the carriage 2030 along the X axis.

[0092] Also, the grinding wheel 2021 can move along the Y axis (vertically) relative to the remainder of the carriage 2030; as such, a first mechanism is used for moving the carriage 2030 along the X axis and a second mechanism allows movement of the grinding wheel 2021 along the Y axis. In this embodiment, a spring-loaded member 2049 including a spring acts on an arm 2046 carrying the grinding wheel 2021 and allows the grinding wheel 2021 to move along the Y axis (e.g., vertically up and down) as it travels under the runner 52.

[0093] In this embodiment, in addition to being allowed by the spring-loaded member 2049 as the grinding wheel 2021 travels under the runner 52, the movement of the grinding wheel 2021 along the Y axis (vertically) can be automatically controlled via an actuator 2039 which is operated by the controller 2050 (i.e., based on one or more signals from the controller 2050). The grinding wheel 2021 can thus be moved along the Y axis and / or have its movement along the Y axis limited or otherwise controlled automatically by the actuator 2039, independently of movement of the grinding wheel 2021 along the X axis (e.g., without the grinding wheel 2021 contacting the runner 52). For instance, in this embodiment, the actuator 2039 is an electric motor, which may sometimes be referred to as a “y-iranslation” motor 2039. In other embodiments, the actuator 2039 may be a linear actuator, a hydraulic actuator, a pneumatic actuator, or any other suitable actuator powered and controlled by the controller 2050. More particularly, in this embodiment, the movement of the grinding wheel 2021 along the Y axis (vertically) can be automatically limited by the y-translation motor 2039. For example, in this embodiment, the movement of the grinding wheel 2021 along the Y axis can be automatically limited at certain positions, such as adjacent to the toe end and the heel end of the runner 52, by the y-translation motor 2039. This may enable the grinding wheel 2021 to be positioned optimally adjacent to the toe end and the heel end of the runner 52 when engaging and disengaging the runner 52 during a sharpening pass. Notably, in this embodiment, a position of the grinding wheel 2021 along the Y axis may be adjusted by the y-translation motor 2039 so that the position of the grinding wheel 2021 along the Y axis adjacent to the toe end of the runner 52 is different from and independent of the position of the grinding wheel 2021 along the Y axis adjacent to the heel end of the runner 52.

[0094] For instance, in this embodiment, the y-translation motor 2039 is controllable by the controller 2050 to move a stopper 2067 of the carriage 2030 to limit how far the grinding wheel 2021 can move along the Y axis during sharpening, such as a max height, including adjacent to the toe end and the heel end of the runner 52. More specifically, in this embodiment, the y-translation motor 2039 can turn a lead screw 2041 to which is coupled the stopper 2067 so that rotation of the y- translation motor 2039 rotates the lead screw 2041 that moves the stopper 2067. The spring of the spring-loaded member 2049 urges the grinding wheel 2021 upward in the Y-direction into contact with and applying pressure onto the runner 52 during sharpening. When the grinding wheel 2021 is sharpening, the stopper 2067 is not in contact with a stopper-engaging member 2068. Only the grinding wheel 2021 is in contact with the runner 52. The stopper 2067 therefore does not limit the movement of the grinding wheel 2021 along the Y axis, which is regulated by the spring force and the grinding wheel 2021 contacting the runner 52. When the grinding wheel 2021 is off the runner 52, the stopper-engaging member 2068 contacts the stopper 2067 at the max height, which is set by a position of the stopper 2067 that is itself set by the y-translation motor 2039 under control of the controller 2050. This max height can change for entry and exit directions of the grinding wheel 2021 with the runner 52. In this example of implementation, the position of the stopper 2067, and thus the position of the grinding wheel 2021 , adjacent to each of the toe and heel ends of the runner 52 may be established by the controller 2050 during a calibration phase before a grinding phase, as further discussed later.

[0095] In this embodiment, the carriage 2030 includes a guiding mechanism 2031 configured to guide the grinding mechanism 2020 as it translates along one or more directions (i.e., x-direction, y- direction, z-direction) of the runner grinding apparatus 2000. The guiding mechanism 2031 may comprise any suitable means for smoothly moving the grinding mechanism 2020 (e.g., a belt, a lead screw, a feed screw etc.). A drive assembly 2032 provides the motive force to move the grinding mechanism 2020 as it translates along one or more directions (i.e., x-direction, y- direction, z-direction) of the runner grinding apparatus 2000.

[0096] In this example of implementation, the guiding mechanism 2031 is configured to guide the grinding wheel 2021 as it translates along x-direction of the runner grinding apparatus 2000 (i.e., along the X axis) and the drive assembly 2032 is configured to provide the motive force to move the grinding mechanism 2020 as it translates along x-direction of the runner grinding apparatus 2000 (i.e., along the X axis). More particularly, in this example of implementation, the guiding mechanism 2031 comprises rails 2037 slidingly engaging mounts 2034 (e.g., sliders) of the grinding mechanism 2020 to move the grinding mechanism 2020 back and forth in the x-direction of the runner grinding apparatus 2000 (i.e., along the X axis) under action of the drive assembly 2032, which comprises a belt 2035, a pulley 2036, and a motor 2038 for driving the belt 2035 around the pulley 2036, thereby moving the grinding mechanism 2020 along the rails 2037.

[0097] Motion of the grinding wheel 2021 and the carriage 2030 may be implemented in various other ways in other embodiments. For example, in other embodiments, the position of the grinding wheel 2021 within the carriage 2030 is fixed not only along the X axis but also along the Y axis, and thus it is the entire carriage 2030 that is moved along the X and Y axes to cause movement of the grinding wheel 2021 along the X and Y axes. For instance, in such embodiments, the guiding mechanism 2031 may be a first guiding mechanism for guiding the carriage 2030 as it moves in the x-direction of the runner grinding apparatus 2000 (i.e., along the X-axis) and a second guiding mechanism for guiding the carriage 2030 as it moves in the y-direction of the runner grinding apparatus 2000 (i.e., along the Y axis), while the drive assembly 2032 may comprises a first drive assembly for providing the motive force to move the grinding mechanism 2020 as it translates in the x-direction of the runner grinding apparatus 2000 (i.e., along the X- axis) and a second drive assembly for providing the motive force to move the grinding mechanism 2020 as it translates in the y-direction of the runner grinding apparatus 2000 (i.e., along the Y axis). As another example, in other embodiments, the grinding mechanism 2020 may be fixed within the housing 2080 of the runner grinding apparatus 2000 and the carriage 2030 is configured to translate the runner 52 longitudinally (along the X-axis) as the grinding mechanism 2020 is operative to remove excess material from the runner 52. In yet other embodiments, the carriage 2030 is configured to translate both the runner 52 and the grinding mechanism 2020 such that excess material is removed from the runner 52. In some embodiments, a motor may be configured to move the grinding wheel 2021 relative to the carriage 2030 along the Y axis.

[0098] To remove excess material, the runner 52 is loaded in the clamping mechanism 2010 and brought into contact with the grinding wheel 2021 of the grinding mechanism 2020 driven in rotation such that the grinding wheel 2021 removes material from the ice-contacting surface 127 of the runner 52.

[0099] With reference to Figs. 29 and 30, in this embodiment, the grinding wheel 2021 comprises an abrasive surface 2029. The abrasive surface 2029 may comprise a substrate material 2024 to which an abrasive material 2025 is applied. The abrasive material 2025 is configured to remove excess material from the runner 52 upon contact with the ice-contacting surface 127 of the runner 52. The substrate material 2024 may comprise carbon steel, a cobalt and nickel alloy, a high nickel alloy, stainless steel, titanium, zirconium or any other suitable material. The abrasive material 2025 may include a ceramic material, cubic boron nitride (CBN), aluminum oxide, a diamond material or any other suitable material. In some cases, the abrasive material 2025 may be applied to the substrate material 2024 using a bonding agent such as resin. In other cases, the abrasive material 2025 may be electroplated. The abrasive material 2025 may be applied to the substrate material 2024 using any suitable techniques known in the art.

[0100] The grinding wheel 2021 may have any suitable diameter and any suitable thickness. For example, in some embodiments, a diameter of the grinding wheel 2021 may vary between 1 ” and 3” and a thickness of the grinding wheel 2021 may vary between 1 / 8” to 1 .5”.

[0101] In this example, the grinding mechanism 2020 includes a rotatable spindle 2026 to which the grinding wheel 2021 is mounted and a grinding wheel motor 2027 configured to rotate the spindle 2026 to drive the grinding wheel 2021. The grinding mechanism 2020 may be configured in any other suitable fashion.

[0102] The grinding mechanism 2020 rotates the spindle 2026 at a given rotation speed such that the grinding wheel 2021 rotates about an axis of rotation 2028. The grinding wheel 2021 may be rotated clockwise or counterclockwise about the axis of rotation 2028.

[0103] The rotation speed may comprise any suitable value. For example, the rotation speed may be between 5,000 and 25,000 revolutions per minute (RPM). The rotation speed may be constant or variable (i.e., the rotation speed may vary as the grinding wheel 2021 and the runner 52 move with respect to each other along a portion or all of the length L of the runner 52). For example, the rotation speed may be varied by varying the voltage applied to the grinding wheel motor 2027. In some embodiments, the rotation speed may be selected by the user of the runner grinding apparatus 2000 upon setup of the grinding operation.

[0104] The grinding mechanism 2020 may be activated for a period of time before the grinding wheel 2021 comes into contact with the runner 52 such that the grinding wheel 2021 may reach the desired rotation speed prior to grinding the runner 52.

[0105] As previously indicated, in this example of implementation, the carriage 2030 translates the grinding mechanism 2020 in the x-direction of the runner grinding apparatus 2000. Accordingly, the grinding wheel 2021 moves in the x-direction (along the X-axis) as the runner 52 stays fixed fixed with respect to the housing 2080. In some embodiments, a speed of translation of the grinding wheel 2021 along the x-direction may be constant as the grinding wheel 2021 contacts the ice-contacting surface 127 of the runner. In other embodiments, the speed of translation of the grinding wheel 2021 along the x-direction may be vary as the grinding wheel 2021 contacts the ice-contacting surface 127 of the runner 52. For example, the speed of translation of the grinding wheel 2021 may vary between ” per second to 2” per seconds.

[0106] As the grinding wheel 2021 grinds the runner 52, the grinding wheel 2021 exerts pressure on the runner 52. Thus, the runner grinding apparatus 2000 may include a pressure regulating mechanism 2060 to ensure that a correct grinding wheel pressure is applied against the runner 52 during the grinding operation. The pressure regulating mechanism 2060 may include means to adjust the pressure applied to the runner 52 by the grinding wheel 2021 . For example, in one example of implementation, the pressure applied to the runner 52 by the grinding wheel 2021 may be increased by the user of the runner grinding apparatus 2000. In such cases, the grinding operation may be completed more quickly.

[0107] Moreover, the position of the grinding wheel 2021 may be adjusted in the y-direction of the runner grinding apparatus 2000 in order to control the pressure exerted on the runner 52. The position of the grinding wheel 2021 may be also adjusted in the y-direction of the runner grinding apparatus 2000 such that the grinding wheel 2021 contacts the first and second ends 27, 29 of the runner 52 at the correct location as the grinding wheel 2021 grinds the ice-contacting surface 127 of the runner 52. The position of the grinding wheel 2021 may be adjusted by a user of the runner grinding apparatus 2000, for example, via a button, handle or another user-operated element of the runner grinding apparatus 2000. The position of the grinding wheel 2021 may be adjusted toolessly (i.e. , without the use of tools such as a screwdriver, a key, a wrench or any other suitable tool). In other embodiments, the position of the grinding wheel 2021 may be adjusted automatically (i.e., without any intervention by the user).

[0108] The grinding wheel 2021 wears from repeated grinding operations and, as such, the diameter of the grinding wheel 2021 may decrease after use. Thus, in some embodiments, the position of the grinding wheel 2021 may be adjusted such that proper contact between the grinding wheel 2021 and the runner 52 is maintained as the diameter of the grinding wheel 2021 decreases. Adjustment of the position of the grinding wheel 2021 may in some cases increase the usability of the grinding wheel 2021 .

[0109] In this embodiment, as shown in Fig. 25, the controller 2050 of the runner grinding apparatus 2000 comprises a processor 500, a non-transitory memory 510 including various databases 511 for storing information used by processes, sensors 520 for sensing a variety of parameters related to the grinding operation, and an input / output module 531 for entering selections and displaying information, and may include any other suitable components.

[0110] The processor 500 may include one or more central processing units (CPUs) having one or more cores. The processor 500 may also include at least one graphics processing unit (GPU) in communication with a video encoder / video codec (coder / decoder, not shown) for causing output data to be supplied to the input / output module 531 for display on a display device 532 (e.g., the screen 2056). The processor 500 may also include at least one audio processing unit in communication with an audio encoder / audio codec (coder / decoder, not shown) for causing output data to be supplied to the input / output module 531 to an auditory device (e.g., a speaker).

[0111] The memory 510 may include RAM (Random Access Memory), ROM (Read Only Memory), flash memory, hard disk drive(s), and / or any other suitable memory device, technology or configuration. The memory 510 stores a variety of information including computer-readable instructions 85. The memory 510 may be in communication with the processor 500 which is configured to execute the computer-readable instructions 85 such that the processor 500 is able to perform various kinds of functions related to the processes it encodes. The controller 2050 may be an electronic controller that can include a microprocessor and a plurality of communication ports to communicate with one or more components of the runner grinding apparatus 2000 such as the clamping mechanism 2010 including the clamp-actuating mechanism 2040, the carriage 2030, the grinding mechanism 2020 including the grinding wheel 2021 , and the pressure regulating mechanism 2060.

[0112] The sensors 520 (e.g., cameras, optical scanners, photosensors, contact sensors such as depth gauges or micrometers, non-contact sensors such as lasers, vibration detectors, etc.) are configured to detect a plurality of other parameters required for the grinding operation.

[0113] For example, the sensors 520 may be configured to detect a location of the runner 52 within the housing 2080 of the runner grinding apparatus 2000. The sensors 520 may be configured to detect a position of the carriage 2030 and / or the grinding mechanism 2020 including the grinding wheel 2021 within the housing 2080 of the runner grinding apparatus 2000. The sensors 520 may be configured to detect the relative position of the runner 52 and carriage 2030 and / or the grinding wheel 2021. For example, the sensors 520 may provide feedforward data (e.g., monitoring the control signals issued to the carriage 2030 or the grinding wheel 2021 ) and / or feedback data (e.g., data obtained from a laser or camera or contact-based position sensor, for example).

[0114] In some embodiments, the sensors 520 may be configured to sense vibrations associated with the abrasive surface 2029 of the grinding wheel 2021 . For example, the sensors 520 may include a vibration detector 521 configured to detect the vibration generated on the grinding wheel 2021 during the grinding of the runner 52 and transmits data or a signal related to the vibration to the controller 2050. The vibration detector 521 may comprise, for example, a piezoelectric vibration sensor which converts the amplitude of the vibration into an electric signal and outputs the signal.

[0115] The memory 510 may store various databases 511 storing information required for the grinding operation. For example, the memory 510 may store a database 51 1 storing material removal amounts with different levels of wear (i.e., wear states) of grinding wheels 2021 . The memory 510 may store a database 51 1 storing information regarding various runners 52, for example a material of the runner 52, the hardness of the runner 52, identifiers of the runner 52, a manufacturer and / or model of the runner 52. The memory 510 may store a database 51 1 storing vibration measurements associated with different levels of wear (i.e., wear states) of grinding wheels 2021 . The input / output module 531 of the GUI 530 of the runner grinding apparatus 2000 is configured such that the user of the runner grinding apparatus 2000 may enter selections relating to the grinding operation of the runner 52. In some embodiments, the input / output module 531 of may include one or more input devices 533 (e.g., a touchscreen, buttons, a keyboard, a joystick, a touch pad, a keypad, a trackball, and the like) and one or more output devices such as the display device 532 (e.g., a screen which may be a touchscreen, etc.).

[0116] The GUI 530 of the runner grinding apparatus 2000 may include one or more indicators 534. The indicators 534 may provide cues or instructions to the user of the runner grinding apparatus 2000. For example, the GUI 530 may include a visual indicator (e.g., lights, icons, images) to guide the user during operation of the runner grinding apparatus 2000. The GUI 530 of the runner grinding apparatus 2000 may include an audible indicator (e.g., a speaker) configured to provide verbal instructions, a tone, a chime, or other suitable audible messages.

[0117] In this embodiment, the GUI 530 may be implemented as a console 535 integrated within the runner grinding apparatus 2000 to provide interactive capabilities.

[0118] Alternatively or additionally, in some embodiments, as shown in Fig. 27, the GUI 530 may be implemented remotely by an external communication device 87 (e.g., a smartphone, tablet or other mobile device, or another remote computer) with which the runner grinding apparatus 2000 may be configured to communicate via a network input / output (e.g., wireless) interface 540, permitting data to be sent by the runner grinding apparatus 2000 and received by the external communication device 87, and vice versa. Accordingly, the runner grinding apparatus 2000 may be connected to a data network 83 via the network input / output interface 540. Depending on the implementation, the data network 83 may be the Internet, a local area network, a wireless network, a combination of such networks or still other forms of data networks.

[0119] Communications between the external communication device 87 and the runner grinding apparatus 2000 may be established via a communication link 89. The communication link 89 may be implemented via wireless and / or wireline techniques, including but not limited to one or more of IEEE 802.1 1 (Wi-Fi), IEEE 80215 (Bluetooth), coaxial cable, Ethernet, etc., and may traverse one or more networks, including private networks and / or the internet, or other known methods. Furthermore, the communication link 89 may be accessible through the cloud 98, as will be appreciated by a person skilled in the art. It is also contemplated that the databases 511 may be located remote from the runner grinding apparatus 2000, yet accessible to the processor 500 through the network interface 580. For example, the databases 511 may be stored in the cloud 98.

[0120] The controller 2050 may also be in communication with the data network 83 to send and / or receive commands to / from the runner grinding apparatus 2000 including the GUI 530.

[0121] A user-facing application 545 may be provided to facilitate semi-autonomous operation of the runner grinding apparatus 2000 to grind the runner 52. The user-facing application 545 may be configured to assist the user of the runner grinding apparatus 2000 in completing the grinding operation of the runner 52. For example, the user-facing application 545 may be configured to provide the user with information related to the estimated remaining time for grind the runner 52.

[0122] The user-facing application 545 can be a software or firmware module that operates as part of the GUI 530, or independently thereof. The behavior of the user-facing application may be defined by a subset of the computer-readable instructions 85 stored in the memory 510 of the runner grinding apparatus 2000, and / or can be accessible for execution from a remote location (e.g., over the data network 83). The user-facing application 545 may be configured to facilitate remote operation of the runner grinding apparatus 2000. In other embodiments, the user-facing application 545 can be a module that operates on (or is associated with) the controller 2050.

[0123] In one example of implementation of this embodiment, securing the runner 52 in the clamping mechanism 2010 may be conducted semi-autonomously. In this case, the user of the runner grinding apparatus 2000 may insert the runner 52 into the clamping mechanism 2010 and the runner 52 is secured by the one or more retaining elements 201 1 semi-autonomously. For instance, a clamping feature may be provided via the GUI 530 and the user may select the clamping feature via the GUI 530 (e.g., by pressing a button) which causes the one or more retaining elements 2011 to move into a clamping position to secure the runner 52. In yet other embodiments, the sensors 520 (e.g., the camera, laser, photoreceptor, infrared sensor, inductive sensor, magnetic sensor, capacitive sensor, photoelectric sensor, ultrasonic sensor) may be configured to sense the presence of the runner 52 within the slot 2012 and the one or more retaining elements 201 1 may be configured to move into clamping position upon detecting the presence of the runner 52 in the slot 2012. In this case, the controller 2050 is in communication with the clamping mechanism 2010 to semi-autonomously secure the runner 52 in the clamping mechanism 2010. In some cases, to facilitate insertion of the runner 52 into the runner grinding apparatus 2000 and clamping of the runner 52 by the clamping mechanism 2010, the runner 52 may be affixed to a holder that is bigger than the runner in at least one dimension. The clamping mechanism may thus be actuated through interaction of the holder with the platform, by virtue of a mechanical connection between the platform and the clamping mechanism. In some embodiments, the holder may be a blade holder 28 of a skate 10. In other embodiments, the holder is a custom holder specifically designed to releasably hold the runner 52 while loaded in the runner grinding apparatus 2000.

[0124] In this embodiment, the housing 2080 of the runner grinding apparatus 2000 comprises panels 2057, 2058, 2059 (e.g., doors) openable to access an interior of the housing 2080, including to clean the interior (e.g., remove shavings and other debris from grinding the runner 52), adjust parts, etc.

[0125] Further details about implementation and operation of the runner grinding apparatus 2000 in some embodiments will now be described.

[0126] In this embodiment, the clamping mechanism 2010 includes a user-operated element 5114 (e.g., a button, lever, a knob, or a handle etc.) which may be operated by a user of the runner grinding apparatus 2000 to cause movement of the clamp 2016 to move the one or more retaining elements 2011 towards or away from the runner 52 for retaining or releasing the runner 52.

[0127] In this embodiment, the clamp-actuating mechanism 2040 comprises an actuator 2042 controlled by the controller 2050 (i.e., based on one or more signals from the controller 2050) and configured to move the clamp 2016 for retaining or releasing the runner 52. More particularly, in this embodiment, the actuator 2042 is an electric motor. In other embodiments, the actuator 5116 may be a linear actuator, a hydraulic actuator, a pneumatic actuator, or any other suitable actuator powered and controlled by the controller 2050. In this embodiment, the clamp-actuating mechanism 2040 comprises a transmission 2044 and is configured to convert torque at an output of the motor 2042 to movement of elongate clamping members 2045 of the clamp 2016 which are connected to plates with eccentrics of the retaining elements 201 1 so as to selectively close the retaining elements 2011 onto the runner 52 when the runner 52 is to be retained and move the retaining elements 2011 away from the runner 52 when the runner 52 is to be released. The one or more retaining elements 2011 are also configured to straighten and center the runner 52 prior to the grinding operation of the runner 52, so that the clamp 2016 self-centers the runner 52. In this example of implementation, the user-operated element 51 14 (e.g., a button, a lever, a knob, or a handle etc.) may be operated by the user of the runner grinding apparatus 2000 to cause the actuator 2042 to move the one or more retaining elements 201 1 of the clamp 2016 towards or away from the runner 52. In this case, the user-operated element 5114 is a graphical element (e.g., one or more graphical buttons) implemented by the user interface 2055.

[0128] When the runner 52 is inserted into the runner-receiving portion 2013 and to be machined (e.g., sharpened and / or profiled), the user may input a command (e.g., press on one or more virtual buttons of the GUI) via the user interface 2055 to cause retention of the runner 52 by the clamp 2016. In response to that command, the controller 2050 controls the motor 2042 which proceeds to close the clamp 2016 onto the runner 52, thereby retaining the runner 52 for machining. Conversely, when the runner grinding apparatus 2000 has completed its grinding of the runner 52 which is to be removed from the runner-receiving portion 2013, the user may input a command (e.g., press on one or more virtual buttons of the GUI) via the user interface 2055 to cause release of the runner 52 by the clamp 2016. In response to that command, the controller 2050 controls the motor 2042 which proceeds to open the clamp 2016 and disengage it from the runner 52, thereby releasing the runner 52 which can be removed from the runner grinding apparatus 2000.

[0129] In another example of implementation, the clamping mechanism 2010 may comprise a sensor 520 to detect the presence of the runner 52 within the runner-receiving portion 2013 of the clamping mechanism 2010 and the controller 2050 may be configured to cause the motor 2042 to move the one or more retaining elements 2011 of the clamp 2016 in response to the sensor 520 detecting the runner 52 in the runner-receiving portion 2013.

[0130] In this embodiment, the controller 2050 may determine whether the clamp 2016 sufficiently presses against the runner 52 to retain the runner 52 and, upon determining that it does, stop the motor 2042 from further moving the retaining elements 201 1 towards the runner 52. For instance, in some embodiments, the controller 2050 may set a limit to how much force is applied by the motor 2042 (e.g., which can be preset for any runner, or depend on the runner 52 in the runner grinding apparatus 2000). In some embodiments, the controller 2050 may obtain an indication of the torque at the output of the motor 2042 (e.g., from a sensor 520 such as a torque transducer) and determine when to stop the motor 2042 from further moving the retaining elements 2011 towards the runner 52 based on the indication of the torque at the output of the motor 2042 (e.g., upon determining that the torque at the output of the motor 2042 has reached a threshold). Therefore, in this embodiment, the clamp-actuating mechanism 2040 closes and opens the clamp 2016 under control of the controller 2050, which can enhance consistency and safety in operation of the runner grinding apparatus 2000.

[0131] With the runner 52 loaded in the clamping mechanism 2010, grinding (e.g., for sharpening and / or profiling) can proceed. By causing the grinding wheel 2021 to rotate and by placing the rotating grinding wheel 2021 in contact with the ice-contacting surface 127 of the runner 52, the icecontacting surface 127 will be ground. Moreover, by passing the grinding wheel 2021 in a given direction along the ice-contacting surface 127 of the runner 52, and with the grinding wheel 2021 being of certain dimensions (e.g., thickness), such grinding results in the runner 52 being ground. In some cases, grinding occurs along both directions of a round-trip pass of the grinding wheel 2021 , whereas in other cases, grinding occurs in only one of the directions.

[0132] In this embodiment, the carriage 2030 is configured to translate the grinding mechanism 2020 longitudinally (along the X-axis) to remove excess material of the runner 52 and the grinding wheel 2021 is fixed relative to the carriage 2030 along the X axis. In this embodiment, the grinding wheel 2021 is free to move along the Y axis relative to the remainder of the carriage 2030.

[0133] The controller 2050 controls the position of the carriage 2030 along the X axis so as to acquire a desired position along the X axis of the runner grinding apparatus 2000. With the position of the grinding wheel 2021 relative to the mount of the carriage 2030 being fixed (along the X axis), the controller 2050 effectively controls the position of the grinding wheel 2021 along the X axis by controlling the position of the mount of the carriage 2030 along the X axis.

[0134] In some embodiments, the controller 2050 may be configured to maintain the pressure applied by the grinding wheel 2021 within a predetermined range. The predetermined range may vary as a function of the portion of the ice-contacting surface 127 of the runner 52 being ground.

[0135] It is understood that the pressure regulating mechanism 2060 may be configured in any other suitable fashion, for example by use of gas springs or any other fashion.

[0136] The controller 2050 also controls the rotation of the grinding wheel 2021 for purposes of the grinding operation. For instance, the controller 2050 may control previously discussed parameters such as speed of rotation, variability of the speed of rotation and the direction of rotation of the grinding wheel 2021 . The controller 2050 can be configured to relinquish control of the speed of rotation of the grinding wheel 2021 such that the grinding wheel 2021 rotates freely along the ice-contacting surface 127 of the runner 52. In other words, the controller 2050 can be configured to relinquish control of the speed of rotation of the grinding wheel 2021 such that the grinding wheel 2021 is in “neutral”.

[0137] In such a scenario, if the grinding wheel 2021 is in contact with the ice-contacting surface 127 of the runner 52, and as the carriage 2030 travels (e.g., along one or more of the X-axis, the Y-axis and the Z-axis of the runner grinding apparatus 2000), the grinding wheel 2021 rotates about the axis of rotation 2028 as a result of traction with the ice-contacting surface 127 of the runner 52. In this case, the grinding wheel 2021 does not remove the ice-contacting material 140 from the ice-contacting surface 127 of the runner 52. This can be part of a phase of the grinding operation when grinding is not required, such as a calibration phase that precedes a grinding phase.

[0138] During the calibration phase, the controller 2050 controls the position of the carriage 2030 (e.g., along one or more of the X axis, the Y axis and the Z axis of the runner grinding apparatus 2000) as the grinding wheel 2021 maintains contact with the ice-contacting surface 127 of the runner 52 and rotates freely (i.e. , by traction) about the axis of rotation 2028.

[0139] For instance, in the case where the grinding wheel 2021 is free to move along the Y axis relative to the remainder of the carriage 2030 such that a first mechanism is used for moving the carriage

[0140] 2030 along the X axis and a second mechanism is used for moving the grinding wheel 2021 along the Y axis, the controller 2050 may send control signals to the first mechanism to change the X position of the grinding wheel 2021 as the grinding wheel 2021 rotates freely along the icecontacting surface 127 of the runner 52. For example, the controller 2050 may send a control signal to the drive assembly 2032 of the carriage 2030 such that the belt 2031 may be rotated thus moving the carriage 2030 axially (and therefore the grinding wheel 2021 ) along the lead belt

[0141] 2031 (i.e., along the X axis of the runner grinding apparatus 2000).

[0142] The position of the mount of the carriage 2030 and therefore the grinding wheel 2021 along the X axis may be monitored based on feedforward data (e.g., monitoring the control signals issued to the carriage 2030) and / or feedback data (e.g., data obtained from a laser or camera or contactbased position sensor, for example).

[0143] In one example of implementation, the second mechanism for moving the grinding wheel 2021 along the Y axis may comprise the previously discussed pressure regulating mechanism 2060 comprising the counterweight 2061. Accordingly, the grinding wheel 2021 may move in the y- direction due to the counterweight 2061 such that the grinding wheel 2021 follows the icecontacting surface 127 of the runner 52. Accordingly, the position of grinding wheel 2021 along the Y is directed by the counterweight 2061 of the pressure regulating mechanism 2060.

[0144] The position of the grinding wheel 2021 along the Y axis may be monitored based feedforward data (e.g., monitoring the control signals issued to the y-translation motor 2039) and / or on feedback data (e.g., data obtained from a laser or camera or contact-based position sensor, for example).

[0145] To cease contact between the grinding wheel 2021 and the ice-contacting surface 127 of the runner 52, in the case where the grinding wheel 2021 is free to move along the Y axis relative to the remainder of the carriage 2030 such that a first mechanism is used for moving the carriage 2030 along the X axis and a second mechanism is used for moving the grinding wheel 2021 along the Y axis, the controller 2050 may send control signals to the first mechanism to change the X position of the grinding wheel 2021 such that the grinding wheel 2021 is positioned to no longer contact the ice-contacting surface 127 of the runner 52. For example, the controller 2050 may send a control signal to the drive assembly 2032 of the carriage 2030 such that the belt 2031 may cease to rotate.

[0146] In one example of implementation, the second mechanism for moving the grinding wheel 2021 along the Y axis may comprise the previously discussed pressure regulating mechanism 2060 comprising the counterweight 2061 . In this example, the controller 2050 may send a signal to the pressure regulating mechanism 2060 to cease contact between the grinding wheel 2021 and the ice-contacting surface 127 of the runner. For instance, the controller 2050 may send a signal to the counterweight positioning mechanism 2062 to position the counterweight 2061 relative to the grinding wheel 2021 such that the grinding wheel 2021 is no longer in contact with the icecontacting surface 127 of the runner 52.

[0147] In other embodiments, the position of the grinding wheel 2021 is not free to move along the Y axis relative to the remainder of the carriage 2030. As such, the position of the grinding wheel 2021 within the carriage 2030 is fixed along the X axis and the Y axis such that the entire carriage 2030 moves to change the X and Y position of the grinding wheel 2021 as the grinding wheel 2021 rotates freely along the ice-contacting surface 127 of the runner 52.

[0148] As previously alluded to, in one example of implementation, the pressure regulating mechanism 2060 comprises the counterweight 2061 which may be configured to move both the grinding wheel 2021 and the carriage 2030 in the y-direction due to the counterweight 2061 such that the grinding wheel 2021 follows the ice-contacting surface 127 of the runner 52. In this example, the controller 2050 may send a signal to the pressure regulating mechanism 2060 to cease contact between the grinding wheel 2021 and the ice-contacting surface 127. For instance, the controller 2050 may send a signal to the counterweight positioning mechanism 2062 to position the counterweight 2061 relative to the grinding wheel 2021 and the carriage 2030 such that the grinding wheel 2021 is positioned to no longer be in contact with the ice-contacting surface 127 of the runner 52.

[0149] During the grinding phase, the controller 2050 controls the speed of rotation of the grinding wheel 2021 such that the grinding wheel 2021 rotates at a given rotation speed (constant or variable) along the ice-contacting surface 127 of the runner 52. For instance, the controller 2050 may send a signal to the grinding wheel motor 2027 such that the grinding wheel 2021 rotates (as discussed above). In other words, the controller 2050 controls the drive mechanism 2023 causing the grinding wheel 2021 to rotate due to the grinding wheel motor 2027 rather than rotating mainly by traction. Accordingly, the grinding wheel 2021 is not in “neutral” as discussed above with respect to the calibration phase.

[0150] In such a scenario, if the grinding wheel 2021 is in contact with the ice-contacting surface 127 of the runner 52, and as the carriage 2030 travels (e.g., along one or more of the X-axis, the Y-axis and the Z-axis of the runner grinding apparatus 2000), the grinding wheel 2021 rotates about the axis of rotation 2028 as a result of the drive mechanism 2023 along the ice-contacting surface 127 of the runner 52. In this case, the grinding wheel 2021 removes the ice-contacting material 140 from the ice-contacting surface 127 of the runner 52. By remove the ice-contacting material 140 from the ice-contacting surface 127 of the runner 52, the grinding wheel 2021 grinds the runner 52.

[0151] During the grinding phase, the position of the grinding wheel 2021 and / or the carriage 2030 may be controlled as discussed above with respect to the calibration phase.

[0152] The controller 2050 is configured to determine and track the position of the grinding wheel 2021 in a coordinate space XYZ. Knowledge of the grinding wheel’s 2021 position in the coordinate space XYZ can be based on feedforward data (e.g., monitoring the control signals issued to the carriage 2030) and / or feedback data (e.g., data obtained from a laser or camera or contact-based position sensor, for example). The coordinate space XYZ has two axes, a first axis and a second axis. One can consider that the position of the grinding wheel 2021 is the position of its axis of rotation 2028, which is transverse to the coordinate space XYZ.

[0153] In one embodiment, the coordinate space XYZ is a coordinate space (XYZ)GA set by the configuration of the runner grinding apparatus 2000, as shown in Fig. 1 . In particular, the first axis of the coordinate space (XYZ)GA is the aforementioned X axis and the second axis is the aforementioned Y axis. When the runner 52 is loaded in the clamping mechanism 2010, the position of the grinding wheel 2021 in the coordinate space (XYZ)GA corresponds to the position of the grinding wheel 2021 along the X and Y axes.

[0154] An origin OGA of the coordinate space (XYZ)GA may be centered at any suitable location. For example, the origin OGA of the coordinate space (XYZ)GA may be centered at a mid-point 2087 of a top edge 2088 of the rear surface 2086 of the housing 2080 of the runner grinding apparatus 2000.

[0155] In another embodiment, the coordinate space XYZ is a coordinate space (XYZ)R by the runner 52 as shown in Fig. 31. In particular, the first axis of the coordinate space (XYZ)Rcorresponds to a line RX tangent to a point 31 on the ice-contacting surface 127 of the runner 52. In this example, the point 31 is the balance point 99 of the longitudinal profile LP of the runner 52. In this example, the second axis is a line RY transverse to the first axis RX. When the runner 52 is loaded in the clamping mechanism 2010, the position of the grinding wheel 2021 in the coordinate space (XYZ)R corresponds to the position of the grinding wheel 2021 along the RX and RY axes.

[0156] An origin O of the coordinate space (XYZ) set by the configuration of the runner 52 may be centered at any suitable location. For example, the origin O of the coordinate space (XYZ) may be centered at the point 31 on the runner 52. In other examples, the origin O of the coordinate space (XYZ) may be centered at the longitudinal mid-point 49 on the runner 52.

[0157] In such an embodiment, when the runner 52 is loaded in the clamping mechanism 2010, a relationship is formed between the first axis RX of the coordinate space (XYZ)Rand the X axis. Specifically, if the runner 52 is placed in a position such that the RX axis is parallel to the X axis, then the first and second axes RX, RY of the coordinate space (XYZ)R corresponds to the X and Y axes that are defined by the configuration of the runner grinding apparatus 2000. As such, the position of the grinding wheel 2021 in the coordinate space (XYZ) corresponds to the position of the grinding wheel 2021 along the X and Y axes. However, if the runner 52 is tilted slightly forward or backward from such a position, then the first and second axes RX, RY of the coordinate space (XYZ)R are offset from the X and Y axes defined by the configuration of the runner grinding apparatus 2000. As such, measurements taken along the RX and RY axes but that are to be expressed or processed in the coordinate space (XYZ)GA must undergo a coordinate conversion.

[0158] In summary, the first axis of the coordinate space XYZ may be the X axis as defined by the main axis of movement of the carriage 2030, or it may be the RX axis defined by the runner 52. The second axis of the coordinate space XYZ is transverse to the first axis.

[0159] The controller 2050 can carry out various methods for controlling the position and speed of rotation of the grinding wheel 2021 . Two phases are now described, namely the calibration phase and the grinding phase, briefly alluded to earlier.

[0160] As previously indicated, the ice-contacting surface 127 of the runner 52 is not flat, but rather is curved upwards such that the first end 27 of the runner 52 includes the curved region 35 and the second end 29 of the runner 52 includes the curved region 37. When grinding the runner 52, it may be preferable that only a portion of the curved regions 35, 37 of the first and second ends 27, 29 are machined by the grinding wheel 2021 .

[0161] Fig. 32A is an enlarged view of the first end 27 of the runner 52h of Fig. 51 A showing portions 1021 , 1041 , 1061 of the curved region 35 of the first end 27 of the runner 52. The portion 1021 of the curved region 35 of the runner 52 is a generally vertical portion of the first end 27 of the runner 52h near the runner holder 28 of the skate 10 when the runner 52his held within the runner holder 28 of the skate 10. The portion 1061 of the curved region 35 of the runner 52h is a generally horizontal portion of the first end 27 of the runner 52h. The portion 104i of the curved region 35 is intermediate the portion 102i and the portion 1061 of the curved region 35 of the first end 27 of the runner 52h.

[0162] When grinding the runner 52h, the portions 104i , 1061 may be machined by the grinding wheel 2021 however it may be preferable to avoid machining the portion 102i of the curved region 35 of the first end 27, for example, to avoid damaging the runner holder 28 of the skate 10.

[0163] During the grinding operation, the grinding wheel 2021 contacts the portions 104i , 1061 to remove the ice-contacting material 140 from the ice-contacting surface 127 of the runner 52h in those portions and the grinding wheel 2021 does not contact the portion 102i such that the ice- contacting material 140 is not removed in the portion 102i . Thus, during the grinding operation, the grinding wheel 2021 ceases contact with the ice-contacting surface 127 of the runner 52h at a point intermediate the portion 102i and the portion 104i of the ice-contacting surface 127 such that little or none of the ice-contacting material 140 is removed in the portion 102i of the curved region 35 of the first end 27 of the runner 52.

[0164] Thus, during the grinding operation, the grinding wheel 2021 is configured to contact a portion of the ice-contacting surface 127 of the runner 52 and to cease contact with the ice-contacting surface 127 of the runner 52, for instance at a point on the ice-contacting surface 127 in the first end or the second end 27, 29 of the runner 52 (i.e. , at a point in the curved regions 35, 37 of the first and second ends 27, 29 of the runner 52). The point at which the grinding wheel 2021 ceases contact with the ice-contacting surface 127 may be referred to as a “contact point” 12 and the location of the contact point 12 may vary depending on the runner 52 given that the contour of the ice-contacting surface 127 varies from one runner to another.

[0165] For example, Fig. 32B is an enlarged view of the first end 27 of the runner 52wof Fig. 1 B showing portions 104i , 1021 , 1061 of the curved region 35 of the first end 27 of the runner 52w. The portion 102i of the curved region 35 of the runner 52wis a generally vertical portion of the first end 27 of the runner 52wnear the runner holder 28 of the skate 10 when the runner 52 is held within the runner holder 28 of the skate 10. The portion 1061 of the curved region 35 of the runner 52wis a generally horizontal portion of the first end 27 of the runner 52. The portion 104i of the curved region 35 is intermediate the portion 1021 and the portion 1061 of the first end 27 of the runner 52w.

[0166] The portion 104i of the curved region 35 of the first end 27 of the runner 52wis shorter in length than the portion 104i of the curved region 35 of the first end 27 of the runner 52 (i.e., the length of the arc of the portion 104i of the curved region 35 of the first end 27 of the runner 52wis less than the length of the arc of the portion 104i of the curved region 35 of the first end 27 of the runner 52h). Accordingly, the location of the contact point 12 at the first end 27 of the runner 52wmay be different than the location of the contact point 12 at the first end 27 of the runner 52.

[0167] In some cases, it may also be desirable to avoid machining portion 104i of the curved region 35 of the first end 27 of the runner 52. For example, Fig. 32C is an enlarged view of the first end 27 of the runner 52f of a figure skate of Fig. 52. The first end 27 of the runner 52f comprises a toe pick 33 which assists a skater in executing manoeuvres such as jumps and tricks as well as with landing on the ice 13. During the grinding operation, it may be desirable to avoid machining the toe pick 33 of the runner 52f. Accordingly, during the grinding operation, the grinding wheel 2021 ceases contact with the ice-contacting surface 127 of the runner 52f at a point in the portion 1061 of the first end 27 such that the toe pick 33 is not ground. Thus, the contact point 12 of the first end 27 of the runner 52f may be intermediate the toe pick 33 and the portion 1061 of the curved region 35 of the first end 27 of the runner 52f.

[0168] The second end 29 of the curved region 37 of the runner 52 comprises portions 1022, 1042, I O62 which are analogous to portions 1021 , 104i , 1061 of the first end 27 of the curved region 35 of the runner 52 described above. Accordingly, the contact point 12 may be a first contact point 12i associated with the first end 27 of the runner 52 and the runner 52 may comprise a second contact point 122associated with the second end 29 of the runner 52. The second contact point 122 is the point at which the grinding wheel 2021 ceases contact with the ice-contacting surface 127 in the second end 29 of the runner 52 during the grinding operation.

[0169] For example, Fig. 32D is an enlarged view of the second end 29 of the figure skate runner 52f of Fig. 52. The portion 1042intermediate portions 1022and 106e is significantly pointed. Accordingly, during the grinding operation, the grinding wheel 2021 ceases contact with the ice-contacting surface 127 of the runner 52f at a point in the portion I O62 rather than in the portion 1042. Thus, in this case, the second contact point 122may be located in the portion 1062 and not in the portion 1042.

[0170] Thus, the contact point 12 corresponds to a maximum height of the grinding wheel 2021 at the curved regions 35, 37 of the first and second ends 27, 29 of the runner 52

[0171] It may be beneficial to identify the location of the contact point 12 of the runner 52 prior to executing the grinding operation during the grinding phase. The location of the contact point 12 of the runner 52 are identified during the calibration phase which precedes the grinding phase.

[0172] The calibration phase will now be described in further detail with respect to the generic runner 52 for simplicity. It is understood that the calibration phase can be performed for all runners (e.g., runners 52h, 52f, 52w). Reference to the “contact point(s) 12” is applied to either or both the contact points 12 of the first and second ends 27, 29 of the runner 52 whereas reference to the contact point 12i specifically designates the contact point of the first end 27 of the runner 52 and reference to the contact point 122specifically designates the contact point of the second end 29 of the runner 52.

[0173] During the calibration phase, the grinding wheel 2021 is caused to follow the ice-contacting surface 127 of the runner 52, and the path of the grinding wheel 2021 is tracked along the X and Y axes. Data collected from tracking the path of the grinding wheel 2021 is processed to determine the location of the contact point(s) 12 of the runner 52 thus determining where the grinding wheel 2021 ceases contact the runner 52 in a future grinding pass (during the subsequent grinding phase). In the case of a round-trip grinding pass, the contact point(s) 12 also corresponds to the point in space where the grinding wheel 2021 re-contacts the runner 52 and starts its pass in the opposite direction (during the subsequent grinding phase).

[0174] The contact point(s) 12 can be defined by one or more calibration path coordinates ni in the coordinate space (XYZ)GA set by the configuration of the runner grinding apparatus 2000. Alternatively or additionally, the contact point(s) 12 can be defined by one or more calibration path coordinates in the coordinate space (XYZ)p set by the configuration of the runner 52.

[0175] The one or more calibration path coordinates ni may correspond to the position of the axis of rotation 2028 of the grinding wheel 2021 The one or more calibration path coordinates ni may correspond to any other suitable reference point designating the position of the grinding wheel 2021

[0176] At the beginning of the calibration phase, the runner 52 is loaded in the clamping mechanism 2010 of the runner grinding apparatus 2000. When the runner 52 is loaded in the clamping mechanism 2010, the runner 52 extends in a longitudinal orientation between the first and second ends 27, 29 of the runner 52. In this embodiment, the first end 27 of the runner 52 is adjacent the first end 2081 of the housing 2080 of the runner grinding apparatus 2000 and the second end 29 of the runner 52 is adjacent the second end 2082 of the housing 2080 of the runner grinding apparatus 2000 when the runner 52 is loaded in the clamping mechanism 2010.

[0177] In this example, when the runner 52 is loaded in the clamping mechanism 2010, the runner 52 is placed in a position such that the RX axis is parallel to the X axis and the first and second axes RX, RY of the coordinate space (XYZ)R correspond to the X and Y axes that are defined by the configuration of the runner grinding apparatus 2000. As such, the position of the grinding wheel 2021 in the coordinate space (XYZ)R corresponds to the position of the grinding wheel 2021 along the X and Y axes and the X axis is generally aligned with the longitudinal orientation (along to the longitudinal axis 59 of the runner 52) along which the first and second ends 27, 29 of the runner 52 extend.

[0178] During the calibration phase, the controller 2050 sends control signals to the carriage 2030 to move the grinding wheel 2021 in the x-direction and / or the y-direction of the runner grinding apparatus 2000 (i.e., along the X axis and / or the Y axis) to contact an initial point io on the icecontacting surface 127 of the runner 52. As shown in Fig. 33, the initial point io is located underneath the runner 52 and is intermediate the first and second ends 27, 29 of the runner 52. In some cases, the initial point io may correspond to the balance point 99 of the runner 52. In other cases, the initial point io may correspond to the longitudinal mid-point 49 of the runner 52. The first point io may be any other point located underneath the runner 52 and is intermediate the first and second ends 27, 29 of the runner 52.

[0179] The contact between the grinding wheel 2021 and the ice-contacting surface 127 of the runner 52 at the initial point io may be detected using any suitable means (e.g., via monitoring the load on the y-translation motor 2039 of the carriage 2030, based on feedback data from the sensors 520, based on feedforward data such as monitoring the control signals issued to the carriage 2030, etc.). The contact between the grinding wheel 2021 and the ice-contacting surface 127 of the runner 52 may be defined by the grinding wheel 2021 being positioned within a threshold distance of the runner 52. For example, the threshold distance may be on the order of thousandths of an inch or on the order of hundreds or thousands of micrometers (pm).

[0180] Once the grinding wheel 2021 contacts the initial point io on the ice-contacting surface 127 of the runner 52, the initial point io is recorded in the memory 510 of the runner grinding apparatus 2000. For instance, at the initial point io, a height coordinate yo may be defined for the grinding wheel 2021 in the coordinate space XYZ (e.g., the coordinate space (XYZ)GA and / or the coordinate space (XYZ)R). In other words, a coordinate corresponding to the position of the axis of rotation 2028 of the grinding wheel 2021 along the Y axis in the coordinate space XYZ (e.g., the coordinate space (XYZ)GA and / or the coordinate space (XYZ)R) is recorded in the memory 510 of the runner grinding apparatus 2000. This height coordinate y0is stored in the memory 510 as an initial height ho of the grinding wheel 2021 . Once the grinding wheel 2021 contacts the initial point io, the grinding wheel 2021 travels towards the first end 27 of the runner 52. It is understood that in other cases, the calibration phase may begin with the grinding wheel 2021 travelling towards the second end 29 of the runner 52 rather than the first end 27.

[0181] The controller 2050 sends control signals to the carriage 2030 to move the grinding wheel 2021 in the x-direction and / or the y-direction of the runner grinding apparatus 2000 (i.e., along the X axis and / or the Y axis) as it travels towards the first end 27 of the runner 52. The grinding wheel 2021 is caused to roll about the axis of rotation 2028 by traction with the ice-contacting surface 127 of the runner 52 such that the grinding wheel 2021 remains in contact with the ice-contacting surface 127 of the runner 52. As previously indicated, during the calibration phase, the grinding wheel 2021 does not grind the ice-contacting surface 127 of the runner 52 while traveling towards the first end 27 of the runner 52. The grinding wheel 2021 applies pressure to the ice-contacting surface 127 of the runner while traveling toward the first end 27 of the runner 52. The pressure being applied by the grinding wheel 2021 may be monitored by the controller 2050.

[0182] As the grinding wheel 2021 travels from the initial point io towards the first end 27 of the runner 52, the movement of the grinding wheel 2021 defines a calibration path Pc. In other words, the position of the axis of rotation 2028 of the grinding wheel 2021 changes with time as the grinding wheel 2021 travels from the initial point io towards the first end 27 of the runner 52 and defines the calibration path Pc. The calibration path Pc can be defined by a series of calibration path coordinates ni associated with the grinding wheel 2021 (e.g., a series of calibration path coordinates ni associated with the position of the axis of rotation 2028 of the grinding wheel 2021 in the coordinate space (XYZ)R and / or in the coordinate space (XYZ)GA). Referring now to Fig. 34, there is shown the path Pc of the grinding wheel 2021 as the grinding wheel 2021 moves from the initial point io (with the grinding wheel 2021 being shown in phantom lines at the initial point io) to the first end 27 of the runner 52 (with the grinding wheel 2021 being shown in a solid line at the first end 27).

[0183] The calibration path coordinates ni may comprise a coordinates along one or more of the axes of the coordinate space XYZ (e.g., the coordinate space (XYZ)Rand / or the coordinate space (XYZ)GA). For example, the calibration path coordinates ni may comprise a first calibration path coordinate Xi along the X axis and a second calibration path coordinate y along the Y axis. The first calibration path coordinate Xi may be a length coordinate of the calibration path Pc and the second calibration path coordinate yi may be a height coordinate of the calibration path Pc. The calibration path coordinates ni are stored in the memory 510 of the runner grinding apparatus 2000 in a coordinate space XYZ (e.g., the coordinate spate (XYZ)R and / or the coordinate space (XYZ)GA).

[0184] The calibration path Pc of the grinding wheel 2021 is tracked as the grinding wheel 2021 travels towards the first end 27 of the runner 52 By tracking the calibration path Pc of the grinding wheel 2021 during the calibration phase, the controller 2050 may determine where the calibration path Pc meets a predetermined geometric condition. In this embodiment, the calibration path Pc meets the predetermined geometric condition if an angle of the path 0i is at least as great as a threshold angle 0pgc. The threshold angle 0pgcmay be established by a party associated with the runner grinder apparatus 2000 and / or the runner 52 (e.g., a manufacturer, etc.).

[0185] At each of the calibration path coordinates ni;a tangent line T to the calibration path Pc may be defined. The angle of the path 0i may be defined between a tangent line T to the calibration path Pc and the X axis (or the RX axis). In other embodiments, the angle of the path 0i may be defined between a tangent line T to the calibration path Pc and a line parallel to the X axis (or the RX axis). In yet other embodiments, the angle of the path 0i may be defined between a tangent line T to the calibration path Pc and a line that is tangent to at least one point on the calibration path Pc proximate the longitudinal mid-way point 49 of the runner 52 between the first and second ends 27, 29 of the runner 52. In yet other embodiments, the angle of the path 0i may be defined between a tangent line T to the calibration path Pc and a line that is tangent to at least one point on the calibration path Pc proximate the balance point 99 between the first and second ends 27, 29 of the runner 52. In other embodiments, the angle of the path 0i may be defined between a tangent line T to the calibration path Pc and a line which is not parallel to the X axis (or the RX axis).

[0186] The calibration phase includes storing in the memory 510 of the runner grinding apparatus 2000 the calibration path coordinate ni of the calibration path Pc where the calibration path Pc meets the predetermined geometric condition. The calibration phase may include recording in the memory 510 of the runner grinding apparatus 2000 the length coordinate Xi of the calibration path Pc where the calibration path Pc meets the predetermined geometric condition and / or the height coordinate yi of the calibration path Pc where the calibration path Pc meets the predetermined geometric condition. The position of the grinding wheel 2021 where the calibration path Pc meets the predetermined geometric condition (i.e. , where the angle of the path 0i is at least as great as the threshold angle Qpgc) may be defined as a particular path coordinate npgcproximate the first end 27 of the runner 52, the particular path coordinate npgccorresponding to the position of the axis of rotation 2028 of the grinding wheel 2021. The particular path coordinate npgcmay comprise a particular height coordinate ypgcand / or a particular length coordinate xpgc. The particular height coordinate ypgcmay be measured relative to the initial height ho of the grinding wheel 2021 (i.e., the height coordinate yo).

[0187] The particular path coordinate npgcis stored in the memory 510 of the runner grinding apparatus 2000. For instance, the particular height coordinate ypgcand / or the particular length coordinate xpgc may be stored in the memory 510 of the runner grinding apparatus 2000. The particular path coordinate npgcmay be stored in any suitable coordinate space XYZ (e.g., the coordinate spate (XYZ)R and / or the coordinate space (XYZ)GA).

[0188] The particular path coordinate npgccorresponds to the position of the axis of rotation 2028 of the grinding wheel 2021 at the contact point 12i at the first end 27 of the runner 52.

[0189] The controller 2050 processes the data obtained during the calibration phase to determine where the calibration path Pc meets the predetermined geometric condition. For instance, the controller 2050 processes the data obtained to determine the angle of the path 0i at one or more of the calibration path coordinates ni to determine where the angle of the path is at least as great as the threshold angle 0pgcOnce the controller 2050 determines that the calibration path Pc meets the predetermined geometric condition and the particular path coordinate npgchas been determined, the grinding wheel 2021 may cease contact with the first end 27 of the runner 52. Thus, the grinding wheel 2021 ceases contact with runner 52 at the first contact point 12i . Accordingly, the controller 2050 sends control signals to the carriage 2030 to move the grinding wheel 2021 in the x-direction and / or the y-direction of the runner grinding apparatus 2000 (i.e., along the X axis and / or the Y axis) such that that grinding wheel 2021 ceases contact with the runner 52.

[0190] The particular path coordinate npgcof the grinding wheel 2021 and thus the first contact point 12i having now been determined, the grinding wheel 2021 re-contacts the first end 27 of the runner 52 at the first contact point 12i of the first end 27 of the runner 52 and then travels towards the second end 27 of the runner 52. The grinding wheel 2021 is again caused to roll by traction with the ice-contacting surface 127 of the runner 52 such that the grinding wheel 2021 remains in contact with the ice-contacting surface 127 of the runner 52 without grinding the ice-contacting surface 127 of the runner 52.

[0191] The controller 2050 sends control signals to the carriage 2030 to move the grinding wheel 2021 in the x-direction and / or the y-direction of the runner grinding apparatus 2000 (i.e., along the X axis and / or the Y axis) as it travels towards the second end 29 of the runner 52. Referring now to Fig. 36, as the grinding wheel 2021 travels from the first contact point 12i towards the second end 29 of the runner 52, the movement of the grinding wheel 2021 defines the calibration path Pc. The calibration path Pc of the grinding wheel 2021 is tracked as the grinding wheel 2021 travels towards the second end 29 of the runner 52 in a similar fashion as described above.

[0192] The predetermined geometric condition referenced above may be a first predetermined geometric condition and the calibration phase may comprise determining where the calibration path Pc meets a second predetermined geometric condition. The calibration path Pc meets the first predetermined geometric condition if the angle of the path 0i is at least as great as a first threshold angle 0pgci. Referring now to Fig. 4I, in this embodiment, the calibration path Pc meets the second predetermined geometric condition if the angle of the path 0i is at least as great as a second threshold angle 0pgC2

[0193] The calibration phase includes storing in the memory 510 of the runner grinding apparatus 2000 the calibration path coordinate ni of the calibration path Pc where the calibration path Pc meets the second predetermined geometric condition. The calibration phase may include recording in the memory 510 of the runner grinding apparatus 2000 the length coordinate Xi of the calibration path Pc where the calibration path Pc meets the second predetermined geometric condition and / or the height coordinate y of the calibration path Pc where the calibration path Pc meets the second predetermined geometric condition.

[0194] The above-described particular path coordinate npgcmay be a first particular path coordinate npgci(comprising a first particular height coordinate yPd and / or a first particular length coordinate xpci) and the position of the grinding wheel 2021 where the calibration path Pc meets the second predetermined geometric condition (i.e., once the angle of the path 0i is at least as great as the second threshold angle 0pgC2) may be defined by a second particular path coordinate npgC2.The second particular path coordinate npgC2 is proximate the second end 29 of the runner 52 and corresponds to the position of the axis of rotation 2028 of the grinding wheel 2021 at the contact point 122. The second particular path coordinate npgC2 may comprise a second particular height coordinate ypgC2 and / or a second particular length coordinate xpgC2. The second particular height coordinate ypgC2 may be measured relative to the initial height ho of the grinding wheel 2021 (i.e., the height coordinate y0).

[0195] The second particular path coordinate npgC2 is stored in the memory 510 of the runner grinding apparatus 2000. For instance, the second particular height coordinate ypgC2 and / or the second particular length coordinate xpgC2 may be stored in the memory 510 of the runner grinding apparatus 2000. The second particular path coordinate npgC2 may be stored in any suitable coordinate space XYZ (e.g., the coordinate spate (XYZ)R and / or the coordinate space (XYZ)GA).

[0196] The second particular path coordinate npgC2 corresponds to the position of the axis of rotation 2028 of the grinding wheel 2021 at the second contact point 122at the second end 29 of the runner 52.

[0197] In some cases, the first and second predetermined geometric conditions are identical such that the first threshold angle 0pgciis equal or equivalent to the second threshold angle 0pgC2

[0198] The controller 2050 processes the data obtained during the calibration phase to determine where the calibration path Pc meets the second predetermined geometric condition. For instance, the controller 2050 processes the data obtained to determine the angle of the path 0i at one or more of the calibration path coordinates ni to determine where the angle of the path is at least as great as the second threshold angle 0pgC2 Once it has been determined that the calibration path Pc meets the second predetermined geometric condition and the particular path coordinate npgc2has been determined, the grinding wheel 2021 may cease contact with the second end 29 of the runner 52. Thus, the grinding wheel 2021 ceases contact with runner 52 at the second contact point 122. Accordingly, the controller 2050 sends control signals to the carriage 2030 to move the grinding wheel 2021 in the x-direction and / or the y-direction of the runner grinding apparatus 2000 (i.e., along the X axis and / or the Y axis) such that that grinding wheel 2021 ceases contact with the runner 52.

[0199] This marks the end of the calibration phase.

[0200] As can be appreciated from the above, the calibration phase includes storing in the memory 510 of the runner grinding apparatus 2000 an association between the first predetermined geometric condition and the first end 27 of the runner 52 and an association between the second predetermined geometric condition and the second end 29 of the runner 52. More specifically, the calibration phase results in storing in the memory 510 of the runner grinding apparatus 2000 the first particular path coordinate npgciwhere the calibration path Pc meets the first predetermined geometric condition and the second particular path coordinate npgC2 where the calibration path Pc meets the second predetermined geometric condition. Thus, the calibration phase results in the identifying the location of the contact point(s) 12 and therefore determining the maximum height the grinding wheel 2021 travels along and contacts the ice-contacting surface 127 at the first and second ends 28, 29 of the runner 52.

[0201] During the calibration phase, the toe pick 33 of the runner 52f of the figure skate 10 may be detected based on feedback from the one or more sensors 520 of the runner grinding apparatus 2000. Accordingly, the contact point 12i may be set based on the predetermined geometric condition as well as the location of toe pick 33.

[0202] Additionally, during a setup phase of the calibration phase, the user of the runner grinding apparatus 2000 may enter selections via the input / output module 531 of the GUI 530 regarding the runner 52 to be processed (e.g., model, manufacturer, type, etc.). For instance, the user of the runner grinding apparatus 2000 may enter a selection indicative that the runner 52 to be processed is a figure skate runner 52f. By providing such a selection, the contact point 12i may be determined based in part on such input information and the location of the toe pick 33 may be stored in the memory 510 of the runner grinding apparatus 2000 during the calibration phase for future use during the grinding phase. Alternatively, by providing such a selection, the location and / or dimensions of the toe pick 33 may be retrieved from a database 51 1 storing such information in the memory 510.

[0203] In some embodiments, the controller 2050 may be configured to detect whether the runner 52 has been displaced (e.g., along the x-direction, y-direction, and / or z-direction) greater than a threshold amount once the runner 52 is loaded into the clamping mechanism 2010 prior to completion of the calibration phase. Additional or alternatively, the controller 2050 may be configured to detect whether the runner 52 has been released from the clamping mechanism 2010 prior to completion of the calibration phase. Accordingly, the runner grinding apparatus 2000 may be configured to reinitiate the calibration phase if such conditions have been detected. The indicators 534 may be configured to indicate a status of the calibration phase to the user of the runner grinding apparatus 2000. For example, the indicators 534 may be configured to indicate to the user that the calibration phase has yet to be initiated, that the calibration phase is in progress and / or that the calibration phase has been completed. The status of the calibration phase may be indicated via a visual indicator and / or an audible indicator.

[0204] For example, the indicators 534 may be configured to indicate to the user of the runner grinding apparatus 2000 that the contact point(s) 12 has(have) been determined. For instance, the display device 532 of the GUI 530 of the runner grinding apparatus 2000 may provide a visual indication of the location of the contact point 12.

[0205] In some embodiments, the calibration phase may also include providing the user of the runner grinding apparatus 2000 with the opportunity to confirm the location of the contact point(s) 12 prior to storing the particular path coordinates npgci, npgC2 in the memory 510 of the runner grinding apparatus 2000.

[0206] Additionally and / or alternatively, the calibration phase may also include providing the user of the runner grinding apparatus 2000 with the opportunity to adjust the location of the contact point (s)12 prior to storing the particular path coordinates npgci, npgC2 in the memory 510 of the runner grinding apparatus 2000.

[0207] Accordingly, the calibration phase may result in automated determination of the contact point(s) 12. Automated determination of the contact point(s) 12 may result in the grinding operation being more time-efficient and may also improve the quality of the grinding of the runner 52. Automated determination of the contact point(s) 12, which does not rely upon visual inspection of the position of the grinding wheel 2021 with respect to the runner 52 to determine the contact point(s) 12, may also provide a “user-friendly” experience that is independent of the level of skill or experience of the user of the runner grinding apparatus 2000.

[0208] With reference therefore to Fig. 38, it will be appreciated that there has been provided a method 400 of controlling an abrasive element in a runner grinding apparatus. At step 410, the method includes maintaining causing the abrasive wheel to contact a surface of a runner having a first end and a second end. At step 420, the method includes causing the abrasive wheel to travel towards the first end of the runner while remaining in contact with the surface of the runner. At step 430, the method includes tracking a path of the abrasive wheel as the abrasive wheel travels towards the first end of the runner. At step 440, the method includes determining where the path meets a predetermined geometric condition.

[0209] The first and second particular path coordinates npgci, npgC2 (i.e. , the path coordinates ni where the calibration path Pc meets the first and second predetermined geometric conditions) are used for control of the grinding wheel 2021 during a grinding phase which follows the calibration phase in which the grinding wheel 2021 grinds the ice-contacting surface 127 of the runner 52. The first and second particular path coordinates npgci, npgC2 correspond to the maximum height at which the axis of rotation 2028 of the grinding wheel 2021 reaches at the grinding wheel 2021 travels along the curved regions 35, 37 of the first and second ends 27, 29 of the runner 52.

[0210] With reference to Figs. 39 to 43, the grinding phase will be described in accordance with an embodiment in which the position of the grinding wheel 2021 in the coordinate space (XYZ)R corresponds to the position of the grinding wheel 2021 along the X and Y axes. This is as a result of the runner 52 being loaded in the clamping mechanism 2010 in a position such that the RX axis is parallel to the X axis, the RY axis is parallel to the Y axis and the first and second axes RX, RY of the coordinate space (XYZ)R correspond to the X and Y axes that are defined by the configuration of the runner grinding apparatus 2000.

[0211] The controller 2050 controls the speed of rotation of the grinding wheel 2021 to rotate the grinding wheel 2021 about the axis of rotation 2028 in view of grinding the ice-contacting surface 127 of the runner 52. The controller 2050 may be configured to allow the grinding wheel 2021 to rotate for a predetermined amount of time prior to contacting the runner 52 until the desired rotation speed is reached.

[0212] During the grinding phase, the controller 2050 sends control signals to the carriage 2030 to move the grinding wheel 2021 in the x-direction and / or the y-direction of the runner grinding apparatus 2000 (i.e., along the X axis and / or the Y axis) to contact a first point f0on the ice-contacting surface 127 of the runner 52. The first point f0is located underneath the runner 52 and is intermediate the first and second ends 27, 29 of the runner 52. In some cases, the first point fo may correspond to the balance point 99 of the runner 52. In other cases, the first point fo may correspond to the longitudinal mid-point 49 of the runner 52. The first point fo may be any other point located underneath the runner 52 and is intermediate the first and second ends 27, 29 of the runner 52. The contact between the grinding wheel 2021 and the ice-contacting surface 127 of the runner 52 at the first point fo may be configured similarly as the initial point io described above.

[0213] Once the grinding wheel 2021 contacts the first point fo on the ice-contacting surface 127 of the runner 52, the first point fo is recorded in the memory 510 of the runner grinding apparatus 2000. For instance, at the first point fo, a height coordinate yi may be defined for the grinding wheel 2021 in the coordinate space XYZ (e.g., the coordinate space (XYZ)GA and / or the coordinate space (XYZ)R). In other words, a coordinate corresponding to the position of the axis of rotation 2028 of the grinding wheel 2021 along the Y axis in the coordinate space XYZ (e.g., the coordinate space (XYZ)GA and / or the coordinate space (XYZ)R) is recorded in the memory 510 of the runner grinding apparatus 2000. This height coordinate yi is stored in the memory 510 as an initial value hi of the grinding wheel 2021 .

[0214] As shown in Fig. 39, the grinding wheel 2021 travels from the first point fo towards the first end 27 of the runner 52. It is understood that in other cases, the grinding phase may begin with the grinding wheel 2021 travelling towards the second end 29 of the runner 52 rather than the first end 27.

[0215] The controller 2050 sends control signals to the carriage 2030 to move the grinding wheel 2021 in the x-direction and / or the y-direction of the runner grinding apparatus 2000 (i.e., along the X axis and / or the Y axis) as it travels towards the first end 27 of the runner 52. As the grinding wheel 2021 travels towards the first end 27 of the runner 52, the controller 2050 send signals to the drive mechanism 2023 of the grinding mechanism 2020 to rotate the grinding wheel 2021 about the axis for rotation 2028 and thus grind the ice-contacting surface 127 of the runner 52. The grinding wheel 2021 applies pressure to the ice-contacting surface 127 of the runner 52 while traveling toward the first end 27 of the runner 52. The pressure being applied by the grinding wheel 2021 may be monitored by the controller 2050.

[0216] As the grinding wheel 2021 travels from the first point f0towards the first end 27 of the runner 52, the movement of the grinding wheel 2021 defines a grinding path PG. In other words, the position of the axis of rotation 2028 of the grinding wheel 2021 changes with time as the grinding wheel 2021 travels from the first point fo towards the first end 27 of the runner 52 and defines the grinding path PG. The grinding path PG can be defined by a series of grinding path coordinates mi associated with the grinding wheel 2021 (e.g., a series of grinding path coordinates mi associated with the position of the axis of rotation 2028 of the grinding wheel 2021 in the coordinate space (XYZ)p or in the coordinate space (XYZ)GA). With continued reference to Fig. 39, there is shown the grinding path PG of the grinding wheel 2021 as the grinding wheel 2021 moves from the first point fo (with the grinding wheel 2021 being shown in phantom lines at the initial point fo) to the first end 27 of the runner 52 (with the grinding wheel 2021 being shown in a solid line at the first end 27).

[0217] The grinding path coordinates mi may comprise a coordinate along one or more of the axes of the coordinate space XYZ (e.g., the coordinate spate (XYZ)R and / or the coordinate space (XYZ)GA). For example, the grinding path coordinates mi may comprise a first grinding path coordinate mxi along the X axis and a second grinding path coordinate myi along the Y axis. The first grinding path coordinate Xi may be a length coordinate of the grinding path PG and the second grinding path coordinate myi may be a height coordinate of the grinding path PG. The grinding path coordinates coordinates mi are stored in the memory 510 of the runner grinding apparatus 2000 in a coordinate space XYZ (e.g., the coordinate spate (XYZ)R and / or the coordinate space (XYZ)GA).

[0218] As the grinding wheel 2021 travels from the first point fo towards the first end 27 of the runner 52, displacement Ad of the grinding wheel 2021 is tracked. The displacement Ad of the grinding wheel 2021 is tracked with respect to an initial value di. The displacement Ad of the grinding wheel 2021 is a value representative of the overall change of position of the grinding wheel 2021 with respect to the initial value di along a given direction (e.g., the overall change of position of the axis of rotation 2029 of the grinding wheel 2021 with respect to the initial value di along a given direction).

[0219] The displacement Ad of the grinding wheel 2021 may comprise a longitudinal displacement Adx which is the displacement Ad of the grinding wheel 2021 along the longitudinal axis of the coordinate space XYZ (i.e., the X axis of the coordinate space (XYZ)GA, the RX axis of the coordinate space (XYZ)R) The displacement Ad of the grinding wheel 2021 may comprise a height displacement Ady which is the displacement Ad of the grinding wheel 2021 along the axis transverse to the longitudinal axis of the coordinate space XYZ (i.e., the Y axis of the coordinate space (XYZ)GA, the RY axis of the coordinate space (XYZ)R)

[0220] In the illustrated embodiment of Fig. 39, the longitudinal displacement Adx of the grinding wheel 2021 is tracked with respect to an initial value diXassociated with the longitudinal mid-way point 49 of the runner 52 (i.e., with respect to a coordinate along the X axis corresponding to the position of the longitudinal mid-way point 99 of the runner 52). In other embodiments, the longitudinal displacement Adx of the grinding wheel 2021 may be tracked with respect to an initial value diXassociated with the runner grinding apparatus 2000. For instance, the longitudinal displacement Adx of the grinding wheel 2021 may be tracked with respect to an initial value diXassociated with a reference point on the housing 2080 of the runner grinding apparatus 2000 along the X axis of the runner grinding apparatus 2000, the reference point having been pre-established, for example, by a party associated with the runner grinding apparatus 2000 (e.g., a manufacturer, etc.).

[0221] The height displacement Ady of the grinding wheel 2021 may be tracked with respect to an initial value diy associated with the balance point 99 of the runner 52 (i.e., with respect to a coordinate along the Y axis corresponding to the position of the balance point 99 of the runner 52). In yet another example, the height displacement Ady of the grinding wheel 2021 may be tracked with respect to an initial value diyassociated with the runner grinding apparatus 2000. For instance, the height displacement Ady of the grinding wheel 2021 may be tracked with respect to an initial value diy associated with a reference point on the housing 2080 of the runner grinding apparatus 2000 along the Y axis of the runner grinding apparatus 2000, the reference point having been pre-established by a party associated with the runner grinding apparatus (e.g., a manufacturer, etc.).

[0222] The displacement Ad of the grinding wheel 2021 may be stored in the memory 510 of the runner grinding apparatus 2000.

[0223] By tracking the displacement Ad of the grinding wheel 2021 during the grinding phase, the controller 2050 may determine when the displacement Ad reaches a predetermined displacement APD. The predetermined displacement APD is associated with the calibration path Pchaving met the predetermined geometric condition. Thus, when the displacement Ad reaches the predetermined displacement APD, the grinding wheel 2021 has reached the contact point 12. Once the displacement Ad of the grinding wheel 2021 reaches the predetermined displacement APD, the grinding wheel 2021 ceases contact with the ice-contacting surface 127 of the runner 52. In other words, by tracking the displacement Ad of the grinding wheel 2021 during the grinding phase, the controller 2050 may determine when the displacement Ad reaches a predetermined value. This predetermined value is the value of the displacement Ad of the grinding wheel with respect to the initial value di once the calibration path Pc of the grinding wheel 2021 has met the predetermined geometric condition and thus the grinding wheel 2021 has reached the contact point(s) 12. Thus, the displacement Ad is relative to the initial value di and the contact point 12 corresponds to a point on the ice-contacting surface 127 of the runner where the displacement Ad of the grinding wheel has the predetermined value relative to the initial value di.

[0224] In some cases, the predetermined displacement APD may be a predetermined longitudinal displacement APDX. In other cases, the predetermined displacement APD may be a predetermined height displacement APDy.

[0225] The grinding path PG of the grinding wheel 2021 is tracked as the grinding wheel 2021 travels towards the first end 27 of the runner 52 Tracking the grinding path PG of the grinding wheel 2021 as it travels towards the first end 27 of the runner 52 includes tracking at least one grinding path coordinate (i.e., at least one of the first and second grinding path coordinates mxi, myi corresponding to the position of the axis of rotation 2028 of the grinding wheel 2021 ).

[0226] By tracking the grinding path PG of the grinding wheel 2021 during the grinding phase, the controller 2050 may determine where the grinding path PG meets a predetermined coordinate, namely the particular path height or length coordinate xpgc, ypgcidentified and recorded in the memory 510 of the runner grinding apparatus 2000 during the calibration phase.

[0227] Once the at least one grinding path coordinate mxi, myi of the grinding wheel 2021 along the grinding path PG reaches the predetermined coordinate (i.e., the particular path height or length coordinate xpgc, ypgc), the displacement Ad of the grinding wheel 2021 relative to the initial value di corresponds to the predetermined value. For instance, once the at least one grinding path coordinate mxi of the grinding wheel 2021 along the grinding path PG reaches the particular path length coordinate xpgc, the longitudinal displacement Adx of the grinding wheel 2021 relative to the initial value diXcorresponds to the predetermined value. Alternatively, once the at least one grinding path coordinate myi of the grinding wheel 2021 along the grinding path PG reaches the particular path height coordinate ypgc, the longitudinal displacement Ady of the grinding wheel 2021 relative to the initial value diycorresponds to the predetermined value. The controller 2050 processes the data obtained during the grinding phase to determine when the displacement Ad of the grinding wheel 2021 has reached the predetermined displacement APD (i.e. , that the displacement Ad of the grinding wheel 2021 has a predetermined value) or that the at least one grinding path coordinate mxi, myi has reached the particular path height or length coordinate xpgc, ypgc. Once at least one of these conditions have been met, the grinding wheel 2021 has reached the contact point 12i and therefore may cease contact with the first end 27 of the runner 52. Accordingly, the controller 2050 sends control signals to the carriage 2030 to move the grinding wheel 2021 in the x-direction and / or the y-direction of the runner grinding apparatus 2000 (i.e., along the X axis and / or the Y axis) such that that grinding wheel 2021 ceases contact with the runner 52.

[0228] The grinding wheel 2021 having now reached the first contact point 12i and ceased contact with the ice-contacting surface 127 of the runner 52, the grinding wheel 2021 re-contacts the first end 27 of the runner 52 at the first contact point 12i of the first end 27 of the runner 52 and then travels towards the second end 27 of the runner 52. The grinding wheel 2021 is again caused to roll by the control signals sent by the controller 2050 to the driving mechanism 2023 such that the grinding wheel 2021 remains in contact with the ice-contacting surface 127 of the runner 52 and grinds the ice-contacting surface 127 of the runner 52.

[0229] Referring now to Fig. 40, as the grinding wheel 2021 travels from the first contact point 12i towards the second end 29 of the runner 52, displacement Ad of the grinding wheel 2021 is tracked with respect to the initial value di.

[0230] The predetermined displacement APD referenced above may be a first predetermined displacement APD1 and the grinding phase may comprise determining where the displacement Ad of the grinding wheel 2021 reaches a second predetermined displacement APD2.

[0231] The first predetermined displacement APD1 is associated with the calibration path Pchaving met the first predetermined geometric condition and the second predetermined displacement APD1 is associated with the calibration path Pc having met the second predetermined geometric condition.

[0232] Thus, when the displacement Ad of the grinding wheel 2021 reaches the first predetermined displacement APD1 , the grinding wheel 2021 has reached the first contact point 12i and when the displacement Ad of the grinding wheel 2021 reaches the second predetermined displacement APD2, the grinding wheel 2021 has reached the second contact point 122.

[0233] Once the displacement Ad of the grinding wheel 2021 reaches the fist predetermined displacement APD1 , the grinding wheel 2021 ceases contact with the ice-contacting surface 127 at the first end 27 of the runner 52 and once the displacement Ad of the grinding wheel 2021 reaches the second predetermined displacement APD2, the grinding wheel 2021 ceases contact with the ice-contacting surface 127 at the second end 29 of the runner 52.

[0234] The predetermined value referenced above may be a first predetermined value and the grinding phase may comprise determining where the displacement Ad of the grinding wheel 2021 reaches a second predetermined value. By tracking the displacement Ad of the grinding wheel 2021 during the grinding phase, the controller 2050 may determine when the displacement Ad reaches the second predetermined value.

[0235] The first predetermined value is the value of the displacement Ad of the grinding wheel with respect to the initial value di once the calibration path Pc of the grinding wheel 2021 has met the first predetermined geometric condition and thus the grinding wheel 2021 has reached the first contact point 12i. The second predetermined value is the value of the displacement Ad of the grinding wheel with respect to the initial value di once the calibration path Pc of the grinding wheel 2021 has met the predetermined geometric condition and thus the grinding wheel 2021 has reached the second contact point 122. Thus, the displacement Ad is relative to the initial value di and the contact point 12i corresponds to a point on the ice-contacting surface 127 of the runner 52 where the displacement Ad of the grinding wheel has reached the first predetermined value relative to the initial value di and the contact point 122corresponds to a point on the ice-contacting surface 127 of the runner 52 where the displacement Ad of the grinding wheel has reached the second predetermined value relative to the initial value di

[0236] The grinding path PG of the grinding wheel 2021 is tracked as the grinding wheel 2021 travels towards the second end 27 of the runner 52

[0237] The predetermined coordinate referenced above may be a first predetermined coordinate and by tracking the grinding path PG of the grinding wheel 2021 during the grinding phase, the controller 2050 may determine where the grinding path PG meets the first predetermined coordinate, namely the first particular path coordinate npgciidentified and recorded in the memory 510 of the runner grinding apparatus 2000 during the calibration phase. By tracking the grinding path PG of the grinding wheel 2021 during the grinding phase, the controller 2050 may determine where the at least one grinding path coordinate mxi, myi on the grinding path PG meets the first predetermined coordinate, namely the first particular path height or length coordinate xpgci, ypgci, identified and recorded in the memory 510 of the runner grinding apparatus during the calibration phase.

[0238] The controller 2050 may also be configured to determine where the grinding path PG meets a second predetermined coordinate, namely the second particular path coordinate npgC2 identified and recorded in the memory 510 of the runner grinding apparatus 2000 during the calibration phase. By tracking the grinding path PG of the grinding wheel 2021 during the grinding phase, the controller 2050 may determine where the at least one grinding path coordinate mxi, myi on the grinding path PG meets the second predetermined coordinate, namely the second particular path height or length coordinate xpgC2, yPgC2, identified and recorded in the memory 510 of the runner grinding apparatus during the calibration phase.

[0239] Once the at least one grinding path coordinate mxi, myi of the grinding wheel 2021 along the grinding path PG meets the first predetermined coordinate (i.e., the first particular path height or length coordinate xpgci, ypgci) , the displacement Ad of the grinding wheel 2021 relative to the initial value di corresponds to the first predetermined value. Similarly, once the at least one grinding path coordinate mxi, myi of the grinding wheel 2021 along the grinding path PG meets the second predetermined coordinate (i.e., the second particular path height or length coordinate xpgC2, yPgC2), the displacement Ad of the grinding wheel 2021 relative to the initial value di corresponds to the second predetermined value.

[0240] For instance, once the at least one grinding path coordinate mxi of the grinding wheel 2021 along the grinding path PG reaches the particular path length coordinate xpgci, the longitudinal displacement Adx of the grinding wheel 2021 relative to the initial value diXcorresponds to the first predetermined value. Alternatively, once the at least one grinding path coordinate myi of the grinding wheel 2021 along the grinding path PG reaches the particular path height coordinate ypgci, the longitudinal displacement Ady of the grinding wheel 2021 relative to the initial value diycorresponds to the first predetermined value.

[0241] For instance, once the at least one grinding path coordinate mxi of the grinding wheel 2021 along the grinding path PG reaches the particular path length coordinate xpgC2, the longitudinal displacement Adx of the grinding wheel 2021 relative to the initial value diXcorresponds to the second predetermined value. Alternatively, once the at least one grinding path coordinate myi of the grinding wheel 2021 along the grinding path PG reaches the particular path height coordinate yPgc2, the longitudinal displacement Ady of the grinding wheel 2021 relative to the initial value diycorresponds to the second predetermined value.

[0242] The controller 2050 processes the data obtained during the grinding phase to determine when the displacement Ad of the grinding wheel 2021 has reached the second predetermined displacement APD2 (i.e., that the displacement Ad of the grinding wheel 2021 has a second predetermined value) or that the at least one grinding path coordinate mxi, myi has reached the second particular path height or length coordinate xpgC2, yPgC2. Once at least one of these conditions have been met, the grinding wheel 2021 may cease contact with the second end 29 of the runner 52. Accordingly, the controller 2050 sends control signals to the carriage 2030 to move the grinding wheel 2021 in the x-direction and / or the y-direction of the runner grinding apparatus 2000 (i.e., along the X axis and / or the Y axis) such that that grinding wheel 2021 ceases contact with the runner 52.

[0243] Accordingly, the grinding operation may be executed without visual inspection of the contact point. Accordingly, the grinding operation may not rely on the level skill of the user of the runner grinding apparatus 2000. By ceasing contact at automatically determined contact point(s) 12, the grinding operation may provide repeatable results which may improve the quality of the resultant ground runner.

[0244] In some cases, the amount of the ice-contacting material 140 removed from the ice-contacting surface 127 of the runner 52 during the grinding operation may vary along the length L of the runner 52. For example, in some cases a greater amount of the ice-contacting material 140 may be removed from the curved regions 35, 37 of the ice-contacting surface 127 than from other regions of the ice-contacting surface 127 of the runner 52 (e.g., non-curved regions of the icecontacting surface 127 of the runner 52). This may be a result of grinding the runner 52 using constant pressure along the entire length L of the runner 52 which may result in an increase of the force applied to the curved regions 35, 37 of the runner 52 despite constant pressure being applied. Thus, in some cases, it may be preferable to vary the pressure applied by the grinding wheel 2021 based on the region of the ice-contacting surface 127 being ground. For example, the pressure applied to the portion 104i of the runner 52 by the grinding wheel 2021 may be different from the pressure applied by the grinding wheel 2021 in the portion 1061 of the runner 52. For example, it may be desirable to apply less pressure to the portion 104i of the ice- contacting surface 127 of the first end 27 than to the portion 1061 of the ice-contacting surface 127 of the first end 27 of the runner 52. This may ensure that a uniform amount of the icecontacting material 140 be removed from the portions 104i , 1061.

[0245] Accordingly, the grinding phase may include the controller 2050 sending control signals to the pressure regulating mechanism 2060 to vary the pressure applied by the grinding wheel 2021 to the ice-contacting surface 127, for instance, by reducing the pressure applied by the grinding wheel 2021 when the grinding wheel 2021 is within a threshold distance of the contact point(s) 12.

[0246] The calibration phase and the grinding phase have been described above with respect to an embodiment wherein the position of the grinding wheel 2021 in the coordinate space (XYZ)R corresponds to the position of the grinding wheel 2021 along the X and Y axes as a result of the runner 52 being loaded in the clamping mechanism 2010 in a position such that the RX axis is parallel to the X axis, the RY axis is parallel to the Y axis and the first and second axes RX, RY of the coordinate space (XYZ)R correspond to the X and Y axes that are defined by the configuration of the runner grinding apparatus 2000.

[0247] However, as previously alluded to, if the runner 52 is tilted slightly forward or backward from such a position, then the first and second axes RX, RY of the coordinate space (XYZ)p are offset from the X and Y axes defined by the configuration of the runner grinding apparatus 2000. As such, measurements taken along the RX and RY axes but that are to be expressed or processed in the coordinate space (XYZ)GA must undergo a coordinate conversion.

[0248] Referring now to Fig. 41 , the calibration phase will now be described taking for example the case where the runner is slightly tilted forward. When the runner 52 is loaded in the clamping mechanism 2010, the runner 52 extends in a longitudinal orientation between the first and second ends 27, 29 of the runner 52 (along to the longitudinal axis 59 of the runner 52), however the RX axis is offset from the X axis by an angle p and the RY axis is offset from the Y axis by the angle p. In this case, the origin OR of the coordinate space (XYZ)R set by the configuration of the runner 52 and the origin OGA of the coordinate space (XYZ)GA set by by the configuration of the runner grinding apparatus 2000 are in the same position. In other cases, the origins OR, OGA may be offset in one or more directions by a given amount.

[0249] During the calibration phase, once the grinding wheel 2021 contacts the initial point io on the icecontacting surface 127 of the runner 52, the initial point i0is recorded in the memory 510 of the runner grinding apparatus 2000. In this example, at the initial point io, the height coordinate yo may be defined for the grinding wheel 2021 in the coordinate space (XYZ)R.

[0250] The calibration path Pc of the grinding wheel 2021 is tracked as the grinding wheel 2021 , (1 ) travels towards the first end 27 of the runner 52 to determine where the calibration path Pc meets the first predetermined geometric condition (if an angle of the path 0i is at least as great as a first threshold angle 0pgci ; and (2) travels towards the first end 27 of the runner 52 to determine where the calibration path Pc meets the second predetermined geometric condition (if an angle of the path 0i is at least as great as second threshold angle 0pgC2).

[0251] The angle of the path 0i may be defined between a tangent line T to the calibration path Pc and the RX axis. In other embodiments, the angle of the path 0i may be defined between a tangent line T to the calibration path Pc and a line parallel to RX axis. In yet other embodiments, the angle of the path 0i may be defined between a tangent line T to the calibration path Pc and a line that is tangent to at least one point on the calibration path Pc proximate the longitudinal mid-way point 49 between the first and second ends 27, 29 of the runner 52. In yet other embodiments, the angle of the path 0i may be defined between a tangent line T to the calibration path Pc and a line that is tangent to at least one point on the calibration path Pc proximate the balance point 99 between the first and second ends 27, 29 of the runner 52. In other embodiments, the angle of the path 0i may be defined between a tangent line T to the calibration path Pc and a line which is not parallel to the X axis (or the RX axis).

[0252] As the calibration phase proceeds, the first and second particular path coordinates nPgd , nPgc2 (i.e. , the first particular height and or length coordinate ypgci, xpgci; and the second particular height and / or length coordinate ypgC2, xpgC2) are recorded in the memory 510 of the runner grinding apparatus 2000 in the coordinate space (XYZ)R.

[0253] Referring now to Fig. 42, prior to the grinding phase, the initial point io and the first and second particular path coordinates npgci, npgC2 (i.e., the first particular height and or length coordinate ypgci, xPgci ; and the second particular height and / or length coordinate ypgC2, xpgC2), recorded in the memory 510 of the runner grinding apparatus 2000 in the coordinate space (XYZ)R, may be converted to the coordinate space (XYZ)GA based on the angle and / or the offset of the origins OR, OGA- Thus, the initial point io may be converted to an initial point (IO)GA and the first and second particular path coordinates npgci, npgC2 (i.e., the first particular height and or length coordinate ypgci, xPgci ; and the second particular height and / or length coordinate ypgC2, xpgC2) may be converted to a first and second particular path coordinates (npgci)GA, (npgC2)GA (i.e. , a first particular height and / or length coordinate (ypgci)GA, (xpgci)GA; and a second particular height and / or length coordinate (yPgc2)GA, (XpgC2)GA)

[0254] The predetermined displacement APD (and thus the predetermined value) such as the predetermined longitudinal displacement APDXand the predetermined height displacement APDyrelied upon during the grinding phase may be based on the initial point (IO)GA and the first and second particular path coordinates (npgci)GA, (npgC2)GA- Further to this conversion, the predetermined coordinate used during the grinding phase will be the first particular height and / or length coordinate (ypgci)GA, (xpgci)GA; and a second particular height and / or length coordinate (yPgc2)GA, (XpgC2)GA

[0255] With reference therefore to Fig. 43, it will be appreciated that there has been provided a method 500 of controlling an abrasive element in a runner grinding apparatus. At step 501 , the method includes causing the abrasive element to grind a surface of a runner, the runner having a first end and a second end. At step 502, the method includes causing the abrasive element to travel towards the first end of the runner while grinding the surface of the runner. At step 503, the method includes tracking displacement of the abrasive element as it travels towards the first end of the runner. At step 504, the method includes causing the abrasive element to cease contact with the surface of the runner in response to the displacement reaching a predetermined value.

[0256] With reference therefore to Fig. 44, it will be appreciated that there has been provided a method 510 of controlling an abrasive element in a runner grinding apparatus. At step 51 1 , the method includes causing the abrasive element to contact a surface of a runner having a first end and a second end. At step 512, the method includes causing the abrasive element to travel towards the first end of the runner while remaining in contact with the surface of the runner. At step 513, the method includes tracking a path of the abrasive element as the abrasive element travels towards the first end of the runner. At step 514, the method includes determining where the path meets a predetermined geometric condition. At step 515, the method includes causing the abrasive element to travel towards the first end of the runner while grinding the surface of the runner. At step 516, the method includes tracking displacement of the abrasive element as it travels towards the first end of the runner. At step 517, the method includes causing the abrasive element to cease contact with the surface of the runner in response to the displacement reaching a predetermined value, wherein the predetermined value corresponds to the displacement of the abrasive element where the path meets the predetermined geometric condition.

[0257] In some embodiments, no calibration phase may be performed by the runner grinding apparatus 2000 before grinding the runner 52. In such embodiments, the runner grinding apparatus 2000 may proceed with grinding the runner 52 when the runner 52 is loaded thereinto without any calibration phase.

[0258] In this embodiment, the grinding wheel 2021 (and, equivalently, a hub of the spindle 2026 for mounting the grinding wheel 2021 if the grinding wheel 2021 is not mounted to the hub of the spindle 2026) remains aligned with a centerline 2043 of the clamp 2016 laterally, i.e., in the z- direction, even after many sharpening passes of the grinding wheel 2021 on the runner 52. For example, in some embodiments, the grinding wheel 2021 (and, equivalently, the hub of the spindle 2026 for mounting the grinding wheel 2021 if the grinding wheel 2021 is not mounted to the hub of the spindle 2026) may remain aligned with the centerline 2043 of the clamp 2016 laterally, i.e., in the z-direction, even after at least fifty, in some cases at least one hundred, in some cases at least two hundred, in some cases at least five hundred, and in some cases even more sharpening passes of the grinding wheel 2021 on the runner 52.

[0259] Still, in this embodiment, the carriage 2030 of the runner grinding apparatus 2000 is configured to allow adjustment of the grinding wheel 2021 laterally, i.e., along the z-direction, of the runner grinding apparatus 2000 so that the grinding wheel 2021 can be realigned with the centerline 2043 of the clamp 2016 should they become misaligned. For instance, this may be useful if, due to vibrations, impacts and / or other effects on the runner grinding apparatus 2000 (e.g., while it is manually carried or transported in a vehicle), the grinding wheel 2021 becomes misaligned with the centerline 2043 of the clamp 2016.

[0260] More particularly, in this embodiment, the carriage 2030 comprises a threaded rod 2079 supported by a base 2090 and allowing lateral adjustment of the grinding wheel 2021 relative to the housing 2080. For instance, during manufacturing of the runner grinding apparatus 2000, the threaded rod 2079 may be turned by turning a nut 2091 (e.g., with a wrench or other tool) to adjust the grinding wheel 2021 so that it is aligned with the centerline 2043 of the clamp 2016. In this embodiment, the nut 2091 comprises a visual indicator 2092 (e.g., a line, point or other discernable mark) and the base 2090 comprises a visual indicator 2093 (e.g., a line, point or other discernable mark) that is aligned with the visual indicator 2092 when the grinding wheel 2021 is aligned with the centerline 2043 of the clamp 2016 in the z-direction. As such, if the grinding wheel 2021 subsequently becomes misaligned with the centerline 2043 of the clamp 2016 during transport or use (e.g., after many grinding operations), the user may access an interior of the housing 2080 and turn the nut 2091 to align the visual indicator 2092 of the nut 2091 with the visual indicator 2093 of the base 2090 to realign the grinding wheel 2021 is aligned with the centerline 2043 of the clamp 2016 in the z-direction. In this example, the threaded rod 2079 is spring-loaded at one end and is also engaged by a setscrew 2094 to further help secure it and maintain lateral alignment of the grinding wheel 2021 with the centerline 2043 of the clamp 2016.

[0261] In this embodiment, the controller 2050 is configured to infer a wear state of the grinding wheel 2021 , and may thus take actions (e.g., output a notification, prevent further grinding) based on the wear state of the grinding wheel 2021 (e.g., if the wear state of the grinding wheel 2021 reaches a threshold level). This can help to replace the grinding wheel 2021 when it has become so worn that inadequate grinding would result.

[0262] As shown in Figs. 29 and 30, in this embodiment, the grinding wheel 2021 comprises a tag 3010 and the controller 2050 is configured to wirelessly communicate with the tag 3010 of the grinding wheel 2021 in order to assess the wear state of the grinding wheel 2021 . Thus, wireless signals can be conveyed between a wireless transceiver 3020 of the tag 3010 of the grinding wheel 2021 and a wireless transceiver 592 of the controller 2050 to enable the controller 2050 to assess the wear state of the grinding wheel 2021 .

[0263] In this example, the wireless transceiver 3020 of the tag 3010 of the grinding wheel 2021 and the wireless transceiver 2054 of the controller 2050 implement radio-frequency identification (RFID) elements (e.g., identification, antenna, reader, etc.) to communicate. In some cases, an RFID element of the wireless transceiver 3020 of the tag 3010 of the grinding wheel 2021 may be passive (e.g., a passive RFID tag) such that it is electromagnetically powered by an interrogation signal of an RFID element of the transceiver 592 of the controller 2050 (e.g., an active RFID reader). In other cases, an RFID element of wireless transceiver 3020 of the tag 3010 of the grinding wheel 2021 may be active or battery-assisted passive to use its own battery to communicate with the controller 2050 autonomously, i.e., without receiving any interrogation signal (e.g., may be an active RFID tag or a battery-assisted passive (BAP) RFID tag). For instance, the transceiver 3020 of the tag 3010 of the grinding wheel 2021 may issue a signal repeatedly (e.g., periodically or at some other predetermined instants). In this embodiment, the tag 3010 of the grinding wheel 2021 includes a memory 3030 to store information about the grinding wheel 2021 , such as an identifier (e.g., make, model, serial number, etc.) of the grinding wheel 2021 and information regarding the wear state of the grinding wheel 2021 . More importantly, in this embodiment, the information regarding the wear state of the grinding wheel 2021 is indicative of a number of grinding operations (e.g., sharpening passes or other grinding operations) performed by the grinding wheel 2021 .

[0264] When the grinding wheel 2021 is in the runner grinding apparatus 2000, the controller 2050 can read and update the information regarding the wear state of the grinding wheel 2021 , which is indicative of the number of grinding operations performed by the grinding wheel 2021 , stored in the tag 3010 of the grinding wheel 2021 .

[0265] By processing that information, such as by comparing the number of grinding operations performed by the grinding wheel 2021 to a threshold (e.g., a predetermined number of sharpening operations allowed to be performed by the grinding wheel 2021 , based on its make, model, serial number, etc., which can be stored in the memory of the controller 2050), the controller 2050 can control whether the runner grinding apparatus 2000 can be used for grinding operations. If the number of grinding operations performed by the grinding wheel 2021 is less than the threshold (e.g., 450 sharpening passes), the controller 2050 can allow the runner grinding apparatus 2000 to be used for grinding the runner 52. If, however, the number of grinding operations performed by the grinding wheel 2021 has reached (or exceeded) the threshold (e.g., 450 sharpening passes), then the controller 2050 may prevent the runner grinding apparatus 2000 to be used for grinding the runner 52 and / or issue a notification via the user interface 2055 and / or the external communication device 87 notifying that the wear state of the grinding wheel 2021 indicates that the grinding wheel 2021 may not grind adequately and / or should be replaced.

[0266] Upon performing a grinding operation with the grinding wheel 2021 , the controller 2050 updates the information regarding the wear state of the grinding wheel 2021 , which is indicative of the number of grinding operations performed by the grinding wheel 2021 , stored in the tag 3010 of the grinding wheel 2021 (e.g., by increasing a count by one).

[0267] In some cases, the controller 2050 may provide a graphical indication of the wear state of the grinding wheel 2021 , such as a remaining number of grinding operations (e.g., explicitly as an absolute number or implicitly as a color or other symbol indicative of that number), on the user interface 2055 so that the user can be made aware of what is a remaining useful life of the grinding wheel 2021 .

[0268] Alternatively or additionally, in others embodiments, as shown in Figs. 45 to 49, the controller 2050 can carry out a method that infers the wear state of the grinding wheel 2021 based on a change in a characteristic of the runner 52. For instance, in various cases, the characteristic of the runner 52 may be a height of the runner 52 or another dimension of the runner 52 along an orientation that is other than its longitudinal orientation.

[0269] For example, in some embodiments, as shown in Fig. 45, at step 6100, the runner grinding apparatus 2000 can grind the runner 52 with the grinding wheel 2021 , and, at step 6200, the controller 2050 can measure a physical parameter resulting from grinding the runner 52 with the grinding wheel 2021. At step 6300, the controller 2050 can determine the wear state of the grinding wheel 2021 based at least on the physical parameter and predetermined values associated with corresponding wear states of the grinding wheel 2021 . Finally, at step 6400, the controller 2050 can output a signal indicative of the determined wear state of the grinding wheel 2021 via the user interface 2055 and / or the external communication device 87 or store the determined wear state of the grinding wheel 2050 in a non-transitory memory medium, such as the memory 510.

[0270] In some embodiments, measuring the physical parameter resulting from grinding the runner 52 comprises measuring a change in the characteristic of the runner 52 before the grinding and after the grinding, and determining the wear state of the grinding wheel 2021 based at least on the physical parameter and predetermined values associated with corresponding wear states of the grinding wheel 2021 comprises determining the wear state of the grinding wheel 2021 based at least on the change in the characteristic of the runner 52 and predetermined changes associated with corresponding wear states of the grinding wheel 2021 .

[0271] In some cases, determining the wear state of the grinding wheel 2021 comprises comparing the change in the characteristic of the runner 52 to the predetermined changes associated with corresponding wear states of the grinding wheel 2021 . For instance, in some examples, this may comprise at least one of interpolating and extrapolating the predetermined changes. In some examples, determining the wear state of the grinding wheel 2021 comprises consulting a database (e.g., in the memory 510) that stores an association between the predetermined changes and the corresponding wear states of the grinding wheel 2021 in order to find the predetermined change that most closely matches the change in the characteristic that was measured.

[0272] For example, in some embodiment, measuring the physical parameter resulting from grinding the runner 52 comprises measuring a change in height of the runner 52 resulting from at least one longitudinal grinding pass with the grinding wheel 2021 , and determining the wear state of the grinding wheel 2021 comprises processing the change in height of the runner 52 with data (e.g., height change data) stored in the memory 510 to obtain an inferred wear state of the grinding wheel 2021 .

[0273] As another example, in some embodiments, measuring the physical parameter resulting from grinding the runner 52 comprises obtaining vibration measurements from a sensor 520 coupled to the grinding wheel 2021 during the grinding, and determining the wear state of the grinding wheel 2021 comprises comparing the obtained vibration measurements to stored vibration measurements associated with different wear states of the grinding wheel 2021 (e.g., stored in the memory 510).

[0274] As shown in Fig. 46, in some embodiments, the controller 2050 can obtain data pertaining to the runner 52, and determine the wear state of the grinding wheel 2021 further based on the data pertaining to the runner 52. For example, in some cases, the data pertaining to the runner 52 comprises a material of the runner 52, a hardness of the runner, an identifier of the runner, a manufacturer and / or model of the runner.

[0275] For instance, in some embodiments, the controller 2050 may obtain the data pertaining to the runner 52 via the user interface 2055 (e.g., as provided by the user). In other embodiments, the controller 2050 may obtain the data pertaining to the runner 52 via a wireless network connection to the external communication device 87. In yet other embodiments, the controller 2050 may obtain the data pertaining to the runner 52 by a camera or other sensor.

[0276] In such embodiments, one or more aspects of the grinding of the runner 52 by the grinding wheel 2021 may be carried out as a function of the data pertaining to the runner 52. For example, a speed of rotation of the grinding wheel 2021 , a pressure applied to a surface of the runner 52 by the grinding wheel 2021 , a direction of rotation of the grinding wheel 2021 , an acceleration of the grinding wheel 2021 , a speed of movement of the grinding wheel 2021 along the longitudinal orientation during the at least one longitudinal grinding pass, and / or other aspects of the grinding of the runner 52 by the grinding wheel 2021 may be carried out as a function of the data pertaining to the runner 52.

[0277] Certain additional elements that may be needed for operation of certain embodiments have not been described or illustrated as they are assumed to be within the purview of those of ordinary skill in the art. Moreover, certain embodiments may be free of, may lack and / or may function without any element that is not specifically disclosed herein.

[0278] Those skilled in the art will appreciate that the description and drawings merely illustrate certain principles and that various arrangements may be devised which, although not explicitly described or shown herein, embody such principles. Furthermore, the examples and conditions recited herein are mainly intended to aid the reader in understanding such principles and are to be construed as being without limitation to such specifically recited examples and conditions.

[0279] It should be noted that references to relative positions (e.g.,“top” and “bottom”) in this description are merely used to identify various elements as are oriented in the Figures. It should be recognized that the orientation of particular components may vary greatly depending on the application in which they are used.

[0280] Some embodiments are also intended to cover program storage devices, e.g., digital data storage media, which are, machine or computer-readable and encode machine-executable or computerexecutable programs of instructions, wherein said instructions perform some or all of the steps of the above-described methods. The embodiments are also intended to cover computers programmed to perform said steps of the above-described methods.

[0281] Those skilled in the art will appreciate that when a processor is described as being “configured” to carry out an action or process, this can mean that the processor carries out the action or process by virtue of executing computer-readable instructions that are read from device memory where these computer-readable instructions are stored.

[0282] Those skilled in the art should appreciate that any feature of any embodiment disclosed herein may combined with (e.g., used instead of or in addition to) any feature of any other embodiment disclosed herein in some examples of implementation. Certain additional elements that may be needed for operation of some embodiments have not been described or illustrated as they are assumed to be within a purview of those ordinarily skilled in the art. Moreover, certain embodiments may be free of, may lack and I or may function without any element that is not specifically disclosed herein.

[0283] Although various embodiments have been illustrated, this was for the purpose of describing, but should not be limiting. Various modifications will become apparent to those skilled in the art and are within the scope of what is claimed.

Claims

WHAT IS CLAIMED IS:1 . A grinding apparatus for grinding a runner of a skate, the grinding apparatus comprising:- a clamping mechanism including a clamp configured to clamp the runner;- a grinding mechanism including an abrasive element movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a controller configured to control the clamping mechanism and the grinding mechanism.

2. The grinding apparatus defined in claim 1 , wherein the clamping mechanism comprises an actuator configured to be controlled by the controller to move the clamp for retaining or releasing the runner.

3. The grinding apparatus defined in claim 2, wherein the actuator is an electric motor.

4. The grinding apparatus defined in claim 3, wherein the clamping mechanism is configured to convert torque at an output of the electric motor to movement of elongate clamping members of the clamp for moving the clamp towards the runner to retain the runner and moving the clamp away from the runner to release the runner.

5. The grinding apparatus defined in claim 1 , wherein the controller is configured to determine whether the clamp sufficiently presses against the runner to retain the runner.

6. The grinding apparatus defined in claim 3, wherein the controller is configured to determine whether the clamp sufficiently presses against the runner to retain the runner based on an indication of torque at an output of the electric motor.

7. The grinding apparatus defined in claim 1 , wherein the clamping mechanism is configured to self-center the runner.

8. The grinding apparatus defined in claim 1 , wherein the controller is configured to control the clamping mechanism based on input from a user interface.

9. The grinding apparatus defined in claim 8, wherein the user interface is a graphical user interface.

10. The grinding apparatus defined in claim 9, wherein the grinding apparatus comprises the graphical user interface.11 . The grinding apparatus defined in claim 9, wherein the controller comprises a wireless interface configured to wirelessly communicate with a mobile device implementing the graphical user interface.

12. The grinding apparatus defined in claim 1 , wherein the controller is configured to control the clamping mechanism based on input from a sensor.

13. The grinding apparatus defined in claim 12, wherein the sensor is configured to detect presence of the runner in the clamping mechanism.

14. A method of operating a grinding apparatus to grind a runner of a skate, the method comprising:- electronically controlling a clamping mechanism including a clamp configured to clamp the runner; and electronically controlling a grinding mechanism including an abrasive element movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp.

15. A grinding apparatus for grinding a runner of a skate, the grinding apparatus comprising:- a clamping mechanism including a clamp configured to clamp the runner;- a grinding mechanism including a grinding wheel movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a controller configured to control the grinding mechanism; wherein the grinding wheel remains aligned with a centerline of the clamp laterally for at least twenty sharpening passes of the grinding wheel on the runner.

16. A method of operating a grinding apparatus to grind a runner of a skate, the method comprising:- clamping the runner with a clamp of the grinding apparatus; and- sharpening the runner with a grinding wheel of the grinding apparatus movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; wherein the grinding wheel remains aligned with a centerline of the clamp laterally for at least twenty sharpening passes of the grinding wheel on the runner.

17. A grinding apparatus for grinding a runner of a skate, the grinding apparatus comprising:- a clamping mechanism including a clamp configured to clamp the runner;- a grinding mechanism including a grinding wheel movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a controller configured to control the grinding mechanism, including to: move the grinding wheel along at least part of the runner without the grinding wheel grinding the runner, and then move the grinding wheel along at least part of the runner while the grinding wheel grinds the runner.

18. A method of operating a grinding apparatus to grind a runner of a skate, the method comprising:- clamping the runner with a clamp of the grinding apparatus; and- moving a grinding wheel of the grinding apparatus along at least part of the runner without the grinding wheel grinding the runner, and then moving the grinding wheel along at least part of the runner while the grinding wheel grinds the runner.

19. A method of controlling an abrasive element used in a runner grinding apparatus, the method comprising:- causing the abrasive element to contact a surface of a runner having a first end and a second end; causing the abrasive element to travel towards the first end of the runner while remaining in contact with the surface of the runner;- tracking a path of the abrasive element as the abrasive element travels towards the first end of the runner; and determining where the path meets a predetermined geometric condition.

20. The method defined in claim 19, further comprising recording in memory a coordinate of the path where the path meets the predetermined geometric condition.

21. The method defined in claim 19, wherein the runner extends in a longitudinal orientation between the first end and the second end and wherein the path is tracked along a first axis generally aligned with the longitudinal orientation and a second axis transverse to the first axis.

22. The method defined in claim 21 , wherein the path includes a length coordinate along the first axis and a height coordinate along the second axis.

23. The method defined in claim 22, further comprising recording in memory at least the length coordinate of the path where the path meets the predetermined geometric condition.

24. The method defined in claim 22, further comprising recording in memory at least the height coordinate of the path where the path meets the predetermined geometric condition.

25. The method defined in claim 23, the method further comprising, before said causing the abrasive element to travel towards the first end of the runner:- moving the abrasive element to an initial point in space intermediate the first and second ends of the runner; and- recording in the memory, as an initial height, a height coordinate of the abrasive element along the second axis at the initial point in space; wherein the height coordinate of the path where the path meets the predetermined geometric condition is measured relative to the initial height.

26. The method defined in claim 24, wherein the height coordinate recorded in memory is used for control of the abrasive element during a future grinding operation of the grinding apparatus.

27. The method defined in claim 22, further comprising recording in memory the length and height coordinates of the path where the path meets the predetermined geometric condition.

28. The method defined in claim 19, wherein the path meets the predetermined geometric condition if an angle of the path is at least as great as a threshold angle.

29. The method defined in claim 28, wherein the runner extends in a longitudinal orientation between the first end and the second end and wherein the path is tracked along a first axis generally aligned with the longitudinal orientation and a second axis transverse to the first axis, wherein the angle of the path is defined between a tangent to the path and the first axis or a line parallel with the first axis.

30. The method defined in claim 28, wherein the angle of the path is defined between (i) a tangent to the path and (ii) a line that is tangent to at least one point on the path proximate a mid-way point between the first and second ends of the runner.31 . The method defined in claim 30, wherein said line is not parallel to the first axis.

32. The method defined in claim 19, wherein while traveling towards the first end of the runner, the abrasive element is caused to roll by traction with the surface of the runner.

33. The method defined in claim 32, wherein the abrasive element does not grind the surface of the runner while traveling towards the first end of the runner.

34. The method defined in claim 19, further comprising causing the abrasive element to apply pressure to the surface of the runner while traveling towards the first end of the runner.

35. The method defined in claim 19, wherein the abrasive element contacts the surface of the runner from underneath the runner.

36. The method defined in claim 19, wherein the runner extends in a longitudinal orientation between the first end and the second end, the method further comprising, before said causing the abrasive element to travel towards the first end of the runner:- moving the abrasive element to an initial point in space intermediate the first and second ends of the runner.

37. The method defined in claim 19, wherein the predetermined geometric condition is a first predetermined geometric condition, the method further comprising:causing the abrasive element to travel towards the second end of the runner while remaining in contact with the surface of the runner;- tracking the path of the abrasive element as the abrasive element travels towards the second end of the runner; and determining where the path meets a second predetermined geometric condition.

38. The method defined in claim 37, wherein the path meets the second predetermined geometric condition if an angle of the path is at least as great as a second threshold angle.

39. The method defined in claim 37, further comprising storing in memory an association between the first predetermined geometric condition and the first end of the runner and an association between the second predetermined geometric condition and the second end of the runner.

40. The method defined in claim 37, further comprising recording in memory a first coordinate of the path where the path meets the first predetermined geometric condition and a second coordinate of the path where the path meets the second predetermined geometric condition.

41. The method defined in claim 37, wherein the first and second predetermined geometric conditions are identical.

42. The method defined in claim 19, further comprising:- causing the abrasive element to grind the surface of the runner; causing the abrasive element to travel towards the first end of the runner while grinding the surface of the runner;- tracking displacement of the abrasive element as it travels towards the first end of the runner;- causing the abrasive element to cease contact with the surface of the runner in response to the displacement reaching a predetermined displacement.

43. The method defined in claim 42, wherein the predetermined displacement is associated with the path having met the predetermined geometric condition.

44. The method defined in claim 43, wherein the predetermined displacement is a predetermined longitudinal displacement.

45. The method defined in claim 43, wherein the predetermined displacement is a predetermined height displacement.

46. The method defined in claim 44, wherein the runner grinding apparatus extends in a longitudinal orientation between a first end of the runner grinding apparatus and a second end of the runner grinding apparatus and wherein the predetermined longitudinal displacement is relative to an initial value along a longitudinal axis generally aligned with the longitudinal orientation of the runner grinding apparatus.

47. The method defined in claim 45, wherein the runner grinding apparatus extends in a transverse orientation between a first surface of the runner grinding apparatus and a second surface of the runner grinding apparatus and wherein the predetermined height displacement is relative to an initial value along a transverse axis generally aligned with the transverse orientation of the runner grinding apparatus.

48. A method of controlling an abrasive element used in a runner grinding apparatus, the method comprising:- causing the abrasive element to grind a surface of a runner, the runner having a first end and a second end; causing the abrasive element to travel towards the first end of the runner while grinding the surface of the runner;- tracking displacement of the abrasive element as it travels towards the first end of the runner;- causing the abrasive element to cease contact with the surface of the runner in response to the displacement reaching a predetermined value.

49. The method defined in claim 48, wherein the displacement is a longitudinal displacement.

50. The method defined in claim 48, wherein the displacement is a height displacement.51 . The method defined in claim 48, wherein the predetermined value is associated with the first end of the runner.

52. The method defined in claim 51 , wherein the predetermined value is a first predetermined value, the method further comprising: causing the abrasive element to travel towards the second end of the runner while grinding the surface of the runner;- tracking displacement of the abrasive element as it travels towards the second end of the runner;- causing the abrasive element to cease contact with the surface of the runner in response to the displacement reaching a second predetermined value.

53. The method defined in claim 52, further comprising storing in memory an association between the first predetermined value and the first end of the runner and an association between the second predetermined value and the second end of the runner.

54. The method defined in claim 48, further comprising:- after said causing the abrasive when to cease contact, causing the abrasive element to re-contact the surface of the runner at a point on the surface of the runner proximate the first end and move towards the second end while grinding the surface of the runner.

55. The method defined in claim 54, wherein the displacement is relative to an initial value, and wherein the point on the surface of the runner proximate the first end corresponds to the point on the surface of the runner where the displacement of the abrasive element has the predetermined value relative to the initial value.

56. The method defined in claim 55, wherein the displacement is a height displacement and wherein the initial value is the height of the lowest point on the surface of the runner.

57. The method defined in claim 55, wherein the displacement is a longitudinal displacement and wherein the initial value is the mid-way point on the surface of the runner between the first and second ends.

58. The method defined in claim 55, wherein the runner grinding apparatus extends in a longitudinal orientation between a first end of the runner grinding apparatus and a second end of the runner grinding apparatus, wherein the displacement is a longitudinal displacement andwherein the initial value is a point along a longitudinal axis generally aligned with the longitudinal orientation of the runner grinding apparatus.

59. The method defined in claim 55, wherein the runner grinding apparatus extends in a transverse orientation between a first surface of the runner grinding apparatus and a second surface of the runner grinding apparatus wherein the displacement is a height displacement and wherein the initial value is a point along a transverse axis generally aligned with the transverse orientation of the runner grinding apparatus.

60. The method defined in claim 48, further comprising, prior to causing the abrasive element to grind: causing the abrasive element to travel towards the first end of the runner while remaining in contact with the surface of the runner but without grinding the surface of the runner;- tracking a path of the abrasive element as the abrasive element travels towards the first end of the runner; and determining where the path meets a predetermined geometric condition; wherein the predetermined value corresponds to the displacement of the abrasive element where the path meets the predetermined geometric condition.61 . The method defined in claim 48, the method further comprising tracking a path of the abrasive element as the abrasive element travels towards the first end of the runner.

62. The method defined in claim 61 , wherein tracking the path of the abrasive element as the abrasive element travels towards the first end of the runner comprises tracking at least one path coordinate.

63. The method defined in claim 62, wherein the runner extends in a longitudinal orientation between the first end and the second end and wherein the at least one path coordinate is tracked along a first axis generally aligned with the longitudinal orientation.

64. The method defined in claim 62, wherein the runner extends in a longitudinal orientation between the first end and the second end and wherein the at least one path coordinate is tracked along a second axis transverse to a first axis generally aligned with the longitudinal orientation.

65. The method defined in claim 62, wherein the method further comprises determining where the at least one path coordinate reaches a predetermined coordinate.

66. The method defined in claim 65, wherein the predetermined value corresponds to the displacement of the abrasive element once the at least one path coordinate reaches the predetermined coordinate.

67. The method defined in claim 62, wherein the at least one path coordinate comprises a first path coordinate along a first axis and a second path coordinate along a second axis.

68. The method defined in claim 67, wherein the runner extends in a longitudinal orientation between the first end and the second end and wherein the first axis is generally aligned with the longitudinal orientation.

69. The method defined in claim 68, wherein the second axis is transverse to the first axis.

70. The method defined in claim 67, wherein the at least one path coordinate reaches a predetermined coordinate comprises the first path coordinate reaching a predetermined longitudinal coordinate or the second path coordinate reaching a predetermined height coordinate.

71. The method defined in claim 67, wherein the predetermined value corresponds to the displacement of the abrasive element where the first path coordinate reaches the predetermined longitudinal coordinate or the second path coordinate reaches the predetermined height coordinate.

72. The method defined in claim 65, wherein the predetermined coordinate is a first predetermined coordinate, the method further comprising: causing the abrasive element to travel towards the second end of the runner while grinding the surface of the runner;- tracking the at least one path coordinate of the abrasive element as it travels towards the second end of the runner;- causing the abrasive element to cease contact with the surface of the runner in response to the at least one path coordinate reaching a second predetermined coordinate.

73. The method defined in claim 72, wherein the first predetermined coordinate is stored in memory in association with the first end of the runner and wherein the second predetermined coordinate is stored in memory in association with the second end of the runner.

74. A method of controlling an abrasive element used in a runner grinding apparatus, the method comprising:- causing the abrasive element to contact a surface of a runner having a first end and a second end; causing the abrasive element to travel towards the first end of the runner while remaining in contact with the surface of the runner;- tracking a path of the abrasive element as the abrasive element travels towards the first end of the runner; determining where the path meets a predetermined geometric condition; causing the abrasive element to travel towards the first end of the runner while grinding the surface of the runner;- tracking displacement of the abrasive element as it travels towards the first end of the runner;- causing the abrasive element to cease contact with the surface of the runner in response to the displacement reaching a predetermined value, wherein the predetermined value corresponds to the displacement of the abrasive element where the path meets the predetermined geometric condition.

75. A method of signaling wear state of an abrasive element, the method comprising: grinding a runner with the abrasive element;- measuring a physical parameter resulting from grinding the runner;- determining the wear state of the abrasive element based at least on the physical parameter and predetermined values associated with corresponding wear states of the abrasive element; and- outputting a signal indicative of the determined wear state of the abrasive element or storing the determined wear state of the abrasive element in a non-transitory memory medium.

76. The method of claim 75, wherein measuring a physical parameter resulting from grinding the runner comprises measuring a change in a characteristic of the runner before the grinding and after the grinding and wherein determining the wear state of the abrasive element based at least on the physical parameter and predetermined values associated with corresponding wear states of the abrasive element comprises determining the wear state of the abrasive element based at least on the change in the characteristic of the runner and predetermined changes associated with corresponding wear states of the abrasive element.

77. The method defined in claim 76, wherein the characteristic of the runner is a height of the runner.

78. The method defined in claim 76, wherein the runner extends in a longitudinal orientation and wherein the characteristic of the runner is a dimension of the runner along an orientation that is other than the longitudinal orientation.

79. The method defined in claim 78, wherein the orientation that is other than the longitudinal orientation is an orientation that is transverse to the longitudinal orientation.

80. The method defined in claim 76, wherein the runner extends in a longitudinal orientation and wherein said grinding the runner with the abrasive element comprises carrying out at least one longitudinal grinding pass.81 . The method defined in claim 80, wherein the at least one longitudinal grinding pass comprises at least one round-trip grinding pass along opposite longitudinal directions.

82. The method defined in claim 80, wherein carrying out at least one longitudinal grinding pass comprises causing the abrasive element to travel longitudinally relative to the runner while causing the abrasive element to rotate at a selected speed of rotation.

83. The method defined in claim 80, wherein carrying out at least one longitudinal grinding pass comprises causing the abrasive element to travel longitudinally while causing the abrasive element to rotate at a selected speed of rotation while the runner remains stationary.

84. The method defined in claim 80, wherein carrying out at least one longitudinal grinding pass comprises causing the runner to travel longitudinally while an axis of rotation of the wheel does not travel longitudinally.

85. The method defined in claim 76, wherein determining the wear state of the abrasive element comprises comparing the change in the characteristic of the runner to the predetermined changes associated with corresponding wear states of the abrasive element.

86. The method defined in claim 85, wherein comparing the change in the characteristic of the runner to the predetermined changes associated with corresponding wear states of the abrasive element comprises at least one of interpolating and extrapolating the predetermined changes.

87. The method defined in claim 76, wherein determining the wear state of the abrasive element comprises consulting a database that stores an association between the predetermined changes and the corresponding wear states of the abrasive element in order to find the predetermined change that most closely matches the change in the characteristic that was measured.

88. The method defined in claim 76, further comprising obtaining data pertaining to the runner and wherein determining the wear state of the abrasive element is further based on the data pertaining to the runner.

89. The method defined in claim 88, wherein the data pertaining to the runner comprises a material of the runner.

90. The method defined in claim 88, wherein the data pertaining to the runner comprises a hardness of the runner.

91. The method defined in claim 88, wherein the data pertaining to the runner comprises an identifier of the runner.

92. The method defined in claim 88, wherein the data pertaining to the runner comprises a manufacturer and / or model of the runner.

93. The method defined in claim 88, wherein the data pertaining to the runner is obtained via a graphical user interface.

94. The method defined in claim 88, wherein the data pertaining to the runner is obtained via a wireless network connection to a mobile device.

95. The method defined in claim 88, wherein the data pertaining to the runner is obtained from the runner by a camera.

96. The method defined in claim 88, wherein an aspect of the grinding is carried out as a function of the data pertaining to the runner.

97. The method defined in claim 96, wherein the aspect of the grinding comprises a speed of rotation of the abrasive element.

98. The method defined in claim 96, wherein the aspect of the grinding comprises a pressure applied to a surface of the runner by the abrasive element.

99. The method defined in claim 96, wherein the aspect of the grinding comprises a direction of rotation of the abrasive element.

100. The method defined in claim 96, wherein the aspect of the grinding comprises acceleration of the abrasive element.

101. The method defined in claim 96, wherein the runner extends in a longitudinal orientation, wherein said grinding the runner comprises carrying out at least one longitudinal grinding pass and wherein the aspect of the grinding comprises a speed of movement of the abrasive element along the longitudinal orientation during the at least one longitudinal grinding pass.

102. The method defined in claim 76, wherein outputting a signal indicative of the determined wear state of the abrasive element comprises outputting the signal via a graphical user interface.

103. The method defined in claim 76, wherein outputting a signal indicative of the determined wear state of the abrasive element comprises outputting the signal via a wireless network connection to a mobile device.

104. The method of claim 76, wherein the runner extends longitudinally, wherein measuring a physical parameter resulting from grinding the runner comprises measuring a change in height of the longitudinally extending runner resulting from at least one longitudinal grinding pass involving the abrasive element and wherein determining the wear state of the abrasive element based at least on the physical parameter and predetermined values associated with corresponding wear states of the abrasive element comprises processing the change in height with data stored in a non-transitory memory to obtain an inferred wear state of the abrasive element.

105. The method defined in claim 104, wherein the data stored in the memory comprises height change data.

106. The method defined in claim 104, wherein grinding the runner comprises carrying out at least one longitudinal grinding pass.

107. The method defined in claim 104, wherein the at least one longitudinal grinding pass comprises at least one round-trip grinding pass along opposite longitudinal directions.

108. The method defined in claim 104, wherein the at least one longitudinal grinding pass involving the abrasive element comprises causing the abrasive element to travel longitudinally relative to the runner while causing the abrasive element to rotate at a selected speed of rotation.

109. The method defined in claim 104, wherein the at least one longitudinal grinding pass involving the abrasive element comprises causing the abrasive element to travel longitudinally while causing the abrasive element to rotate at a selected speed of rotation while the runner remains stationary.

110. The method defined in claim 104, wherein the at least one longitudinal grinding pass involving the abrasive element comprises causing the runner to travel longitudinally while an axis of rotation of the wheel does not travel longitudinally.

111. The method defined in claim 106, wherein determining the wear state of the abrasive element comprises comparing the change in height of the runner to the height change data stored in the non-transitory memory.

112. The method defined in claim 111 , wherein comparing the change in height of the runner to the height change data stored in the non-transitory memory comprises at least one of interpolating and extrapolating the predetermined changes.

113. The method defined in claim 104, wherein determining the wear state of the abrasive element comprises consulting a database that stores an association between predetermined changes in height and corresponding wear states in order to find the predetermined change in height that most closely matches the change in the height that was measured.

114. The method defined in claim 104, further comprising obtaining data pertaining to the runner and wherein determining the wear state of the abrasive element is further based on the data pertaining to the runner.

115. The method defined in claim 114, wherein the data pertaining to the runner comprises a material of the runner.

116. The method defined in claim 114, wherein the data pertaining to the runner comprises a hardness of the runner.

117. The method defined in claim 114, wherein the data pertaining to the runner comprises an identifier of the runner.

118. The method defined in claim 114, wherein the data pertaining to the runner comprises a manufacturer and / or model of the runner.

119. The method defined in claim 114, wherein the data pertaining to the runner is obtained via a graphical user interface.

120. The method defined in claim 114, wherein the data pertaining to the runner is obtained via a wireless network connection to a mobile device.

121. The method defined in claim 114, wherein the data pertaining to the runner is obtained from the runner by a camera.

122. The method defined in claim 114, wherein an aspect of the grinding is carried out as a function of the data pertaining to the runner.

123. The method defined in claim 122, wherein the aspect of the grinding comprises a speed of rotation of the abrasive element.

124. The method defined in claim 122, wherein the aspect of the grinding comprises a pressure applied to a surface of the runner by the abrasive element.

125. The method defined in claim 122, wherein the aspect of the grinding comprises a direction of rotation of the abrasive element.

126. The method defined in claim 122, wherein the aspect of the grinding comprises a pressure applied to a surface of the runner by the abrasive element.

127. The method defined in claim 122, wherein said grinding the runner comprises carrying out at least one longitudinal grinding pass and wherein the aspect of the grinding comprises a speed of movement of the abrasive element along the longitudinal orientation during the at least one longitudinal grinding pass.

128. The method defined in claim 104, wherein outputting a signal indicative of the inferred wear state of the abrasive element comprises outputting the signal via a graphical user interface.

129. The method defined in claim 104, wherein outputting a signal indicative of the inferred wear state of the abrasive element comprises outputting the signal via a wireless network connection to a mobile device.

130. The method of claim 75, wherein measuring a physical parameter resulting from grinding the runner comprises obtaining vibration measurements from a sensor coupled to the abrasive element during said grinding a runner with the abrasive element and wherein determining the wear state of the abrasive element based at least on the physical parameter and predetermined values associated with corresponding wear states of the abrasive element comprises comparing the obtained vibration measurements to stored vibration measurements associated with different wear states of the abrasive element.

131. The method defined in claim 130, wherein the runner extends in a longitudinal orientation and wherein said grinding the runner comprises carrying out at least one longitudinal grinding pass.

132. The method defined in claim 131 , wherein the at least one longitudinal grinding pass comprises at least one round-trip grinding pass along opposite longitudinal directions.

133. The method defined in claim 131 , wherein carrying out at least one longitudinal grinding pass comprises causing the abrasive element to travel longitudinally relative to the runner while causing the abrasive element to rotate at a selected speed of rotation.

134. The method defined in claim 131 , wherein carrying out at least one longitudinal grinding pass comprises causing the abrasive element to travel longitudinally while causing the abrasive element to rotate at a selected speed of rotation while the runner remains stationary.

135. The method defined in claim 131 , wherein carrying out at least one longitudinal grinding pass comprises causing the runner to travel longitudinally while an axis of rotation of the wheel does not travel longitudinally.

136. The method defined in claim 131 , wherein said comparing the obtained vibration measurements to stored vibration measurements associated with different wear states of theabrasive element comprises at least one of interpolating and extrapolating the stored vibration measurements.

137. The method defined in claim 131 , wherein said determining the wear state of the abrasive element comprises consulting a database that stores an association between the stored vibration measurements and the corresponding wear states of the abrasive element in order to find the stored vibration measurements that most closely matches the obtained vibration measurements.

138. The method defined in claim 131 , further comprising obtaining data pertaining to the runner and wherein determining the wear state of the abrasive element is further based on the data pertaining to the runner.

139. The method defined in claim 138, wherein the data pertaining to the runner comprises a material of the runner.

140. The method defined in claim 138, wherein the data pertaining to the runner comprises a hardness of the runner.

141. The method defined in claim 138, wherein the data pertaining to the runner comprises an identifier of the runner.

142. The method defined in claim 138, wherein the data pertaining to the runner comprises a manufacturer and / or model of the runner.

143. The method defined in claim 138, wherein the data pertaining to the runner is obtained via a graphical user interface.

144. The method defined in claim 138, wherein the data pertaining to the runner is obtained via a wireless network connection to a mobile device.

145. The method defined in claim 138, wherein the data pertaining to the runner is obtained from the runner by a camera.

146. The method defined in claim 138, wherein an aspect of the grinding is carried out as a function of the data pertaining to the runner.

147. The method defined in claim 146, wherein the aspect of the grinding comprises a speed of rotation of the abrasive element.

148. The method defined in claim 146, wherein the aspect of the grinding comprises a pressure applied to a surface of the runner by the abrasive element.

149. The method defined in claim 146, wherein the aspect of the grinding comprises a direction of rotation of the abrasive element.

150. The method defined in claim 146, wherein the aspect of the grinding comprises a pressure applied to a surface of the runner by the abrasive element.151 . The method defined in claim 146, wherein the runner extends in a longitudinal orientation, wherein said grinding the runner comprises carrying out at least one longitudinal grinding pass and wherein the aspect of the grinding comprises a speed of movement of the abrasive element along the longitudinal orientation during the at least one longitudinal grinding pass.

152. The method defined in claim 131 , wherein outputting a signal indicative of the determined wear state of the abrasive element comprises outputting the signal via a graphical user interface.

153. The method defined in claim 131 , wherein outputting a signal indicative of the determined wear state of the abrasive element comprises outputting the signal via a wireless network connection to a mobile device.

154. A method of signaling wear state of an abrasive element, the method comprising:- applying a radius of hollow to a runner using the abrasive element;- measuring a physical parameter resulting from the applying the radius of hollow to the runner;- determining said wear state of the abrasive element based at least on the physical parameter and predetermined values associated with corresponding wear states of the abrasive element; and- outputting a signal indicative of the determined wear state of the abrasive element or storing the determined wear state of the abrasive element in a non-transitory memory medium.

155. A grinding apparatus for grinding a runner of a skate, the grinding apparatus comprising: a) a runner-retaining mechanism including a clamp configured to clamp the runner; b) a grinding mechanism including an abrasive element movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and c) a control system configured to control the grinding mechanism and configured to measure a physical parameter resulting from grinding of the runner by the grinding mechanism, determine a state of the abrasive element based at least on the physical parameter resulting from grinding of the runner by the grinding mechanism, and cause an indication of the state of the abrasive element to be stored in a non-transitory memory medium or output on a user interface.

156. A grinding apparatus for grinding a runner of a skate, the grinding apparatus comprising: a) a runner-retaining mechanism including a clamp configured to clamp the runner; b) a grinding mechanism including an abrasive element movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and c) a control system configured to control the grinding mechanism and configured to determine a state of the abrasive element independently of a number of grinding operations performed by the abrasive element, and cause an indication of the state of the abrasive element to be stored in a non-transitory memory medium or output on a user interface.

157. A method of signaling wear state of an abrasive element, the method comprising: grinding a runner with the abrasive element;- measuring a change in a characteristic of the runner before the grinding and after the grinding;- determining the wear state of the abrasive element based at least on the change in the characteristic of the runner and predetermined changes associated with corresponding wear states of the abrasive element; and- outputting a signal indicative of the determined wear state of the abrasive element or storing the determined wear state of the abrasive element in a non-transitory memory medium.

158. A method of determining wear state of an abrasive element, the method comprising:- measuring a change in height of a longitudinally extending runner resulting from at least one longitudinal grinding pass involving the abrasive element;- processing the change in height with data stored in a non-transitory memory to obtain an inferred wear state of the abrasive element; and- outputting a signal indicative of the inferred wear state or storing data indicative of the inferred wear state in the non-transitory memory medium.

159. A method of determining wear state of an abrasive element, the method comprising:- obtaining vibration measurements from a sensor coupled to the abrasive element during a grinding operation of a runner;- comparing the vibration measurements to stored vibration measurements associated with different wear states of the abrasive element; and- outputting a result of the comparing or storing the result in a non-transitory memory medium.

160. A grinding apparatus for grinding a runner of a skate, the grinding apparatus comprising:- a clamping mechanism including a clamp configured to clamp the runner;- a grinding mechanism including a grinding wheel movable against and relative to the runner for grinding the runner while the runner is clamped by the clamp; and a controller configured to control the grinding mechanism, wherein the controller is configured to control movement of the grinding wheel along an X axis substantially parallel to a longitudinal axis of the runner and movement of the grinding wheel along a Y axis orthogonal to the X axis.

161. The grinding apparatus defined in claim 160, wherein the controller is configured to limit the movement of the grinding wheel along the Y axis.

162. The grinding apparatus defined in claim 160, wherein the grinding mechanism comprises an actuator configured to be controlled by the controller to move the grinding wheel along the Y axis.

163. The grinding apparatus defined in claim 162, wherein the actuator is an electric motor.

164. The grinding apparatus defined in claim 160, wherein the grinding mechanism comprises a spring configured to allow the grinding wheel to move along the Y axis and configured to urge the grinding wheel against the runner.

165. The grinding apparatus defined in claim 160, wherein the controller is configured to move the grinding wheel along the Y axis such that a position of the grinding wheel along the Y axis adjacent to a toe end of the runner is different from the position of the grinding wheel along the Y axis adjacent to a heel end of the runner.

166. The grinding apparatus defined in claim 162, wherein the grinding mechanism comprises a stopper; and the actuator is configured to move the stopper to limit the movement of the grinding wheel along the Y axis.

167. The grinding apparatus defined in claim 160, wherein the controller is configured to control the clamping mechanism.

168. The grinding apparatus defined in claim 167, wherein the clamping mechanism comprises an actuator configured to be controlled by the controller to move the clamp for retaining or releasing the runner.

169. The grinding apparatus defined in claim 168, wherein the actuator is an electric motor.

170. The grinding apparatus defined in claim 169, wherein the clamping mechanism is configured to convert torque at an output of the electric motor to movement of elongate clamping members of the clamp for moving the clamp towards the runner to retain the runner and moving the clamp away from the runner to release the runner.

171. The grinding apparatus defined in claim 167, wherein the controller is configured to determine whether the clamp sufficiently presses against the runner to retain the runner.

172. The grinding apparatus defined in claim 170, wherein the controller is configured to determine whether the clamp sufficiently presses against the runner to retain the runner based on an indication of torque at an output of the electric motor.

173. The grinding apparatus defined in claim 167, wherein the clamping mechanism is configured to self-center the runner.

174. The grinding apparatus defined in claim 167, wherein the controller is configured to control the clamping mechanism based on input from a user interface.

175. The grinding apparatus defined in claim 174, wherein the user interface is a graphical user interface.

176. The grinding apparatus defined in claim 175, wherein the grinding apparatus comprises the graphical user interface.

177. The grinding apparatus defined in claim 175, wherein the controller comprises a wireless interface configured to wirelessly communicate with a mobile device implementing the graphical user interface.

178. The grinding apparatus defined in claim 167, wherein the controller is configured to control the clamping mechanism based on input from a sensor.

179. The grinding apparatus defined in claim 168, wherein the sensor is configured to detect presence of the runner in the clamping mechanism.

180. A method of operating a grinding apparatus to grind a runner of a skate, the method comprising:- clamping the runner with a clamp of the grinding apparatus; and- electronically controlling movement of a grinding wheel of the grinding apparatus along an X axis substantially parallel to a longitudinal axis of the runner and movement of the grinding wheel along a Y axis orthogonal to the X axis.

Images