Patent ID: 7038413

Claim:
A trapping detection device of an opening/closing member, comprising: a motor for actuating the opening/closing member in an opening/closing direction; a speed detection means for detecting a rotation state of the motor; a control means for detecting the trapping during an operation of the opening/closing member based on an information sent from the speed detection means and for driving the motor in a reverse direction when the trapping is detected; a voltage detection means for detecting a drive voltage applied to the motor for driving the motor; an actual speed decision means for deciding the actual speed of a rotation of the motor by the speed detection means; an estimated speed calculation means for calculating the estimated speed of the rotation of the motor based on the drive voltage; an estimated speed storage means for storing the estimated speed for a first predetermined time; an estimated speed correction means for correcting the estimated speed based on a difference between the actual speed and the estimated speed obtained before the first predetermined time; a trapping determination means for determining the trapping in the opening/closing member based on a change state of a difference between the estimated speed being corrected and the actual speed.