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Lots of ways to do this. These types of door systems have been around for a long time. Other than the suggestions already offered. I have also seen system using regular mechanical pressure switches under door mats. Door mats with capacitive sensors are also common. Even IR beams have been used. Ultrasonic distance measurement also works. You send out an ultrasonic pulse and when the echo indicates that an object is a certain distance away you open the door.
I am designing the software for an automatic door and we use IR proximity sensor. We also monitor the current and speed of the BLDC motor to detect if a human collides with the door. When overcurrent condition occurs and a speed drop occurs, the software has to respond to it quickly to reduce the force on the person. The reason to reduce the force when it hit the object is to meet the European standard.
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