Door opening and closing apparatus and door opening and closing method

A door opening and closing method comprising:

• causing a first detector to repeatedly detect a detection target that is present within a first detection range set around a door, and causing a second detector to repeatedly detect the detection target that is present within a second detection range set around the door in a manner partially overlapping with the first detection range;
• measuring a first distance from the first detector to the detection target based on a detection result of the first detector, and measuring a second distance from the second detector to the detection target based on a detection result of the second detector;
• setting at least a part of one of the first detection range and the second detection range as a first zone in which a first phase of a setting movement of the detection target is to be detected, and setting a part of another one of the first detection range and the second detection range as a second zone in which a second phase of the setting movement is to be detected, based on the measured first distance and second distance;
• and
• opening or closing the door upon determining that the detection target has performed the setting movement including a movement between the first zone and the second zone, based on a change in the first distance and a change in the second distance.

The door opening and closing apparatus according to 3, wherein

• the first detection range is divided into a first portion and a second portion that is closer to the door than the first portion, based on a distance with respect to the first detector,
• the second detection range is divided into a first portion and a second portion that is closer to the door than the first portion, based on a distance with respect to the second detector, and
• the setting unit is configured:
• in the first access mode, to set the first portion of the first detection range and the second portion of the first detection range excluding a region overlapping with the second portion of the second detection range, as the first zone, and to set the second portion of the second detection range as the second zone;
• and
• in the second access mode, to set the first portion of the second detection range and the second portion of the second detection range excluding a region overlapping with the second portion of the first detection range as the first zone, and to set the second portion of the first detection range as the second zone.

The door opening and closing apparatus according to 4, wherein

• the first detection range is divided into a first portion and a second portion that is closer to the door than the first portion, based on a distance with respect to the first detector,
• the second detection range is divided into a first portion and a second portion that is closer to the door than the first portion, based on a distance with respect to the second detector, and
• the setting unit is configured:
• in the first access mode, to set the first portion of the first detection range and the second portion of the first detection range excluding a region overlapping with the second portion of the second detection range, as the first zone, and to set the second portion of the second detection range as the second zone;
• and
• in the second access mode, to set the first portion of the second detection range and the second portion of the second detection range excluding a region overlapping with the second portion of the first detection range as the first zone, and to set the second portion of the first detection range as the second zone.