Mobile body moving device

A device comprising:

• a mobile body that is moved to open and close an opening;
• a drive unit that moves the mobile body in first and second directions to open and close the opening, respectively;
• a sensor that detects the movement of the mobile body;
• and
• a control unit that controls driving of the drive unit based on a target movement speed rule that prescribes a movement speed of the mobile body according to a position of the mobile body,
• wherein
• in a high-speed region where the mobile body moves at a speed faster than a predetermined speed, the control unit compares an actual speed of the mobile body detected by the sensor and the movement speed of the mobile body calculated by the target movement speed rule and controls the drive unit to adjust the actual speed of the mobile body to the movement speed of the mobile body calculated by the target movement speed rule,
• in a low-speed region where the mobile body moves at a speed less than or equal to the predetermined speed, the control unit compares a predicted actual speed of the mobile body calculated by a predetermined low-speed movement speed rule and a predicted target speed of the mobile body calculated by the target movement speed rule and controls the drive unit to maintain a constant difference between the predicted actual speed of the mobile body and the predicted target speed of the mobile body, and
• the predicted actual speed of the mobile body calculated by the predetermined low-speed movement speed rule is calculated by a predetermined program.