In order to solve imperfection of heart rate extraction by method of traditional ballistocardiogram (BCG), this paper proposes an improved method for detecting heart rate by BCG. First, weak cardiac activity signals are acquired in real time by embedded sensors. Local BCG beats are obtained by signal filtering and signal conversion. Second, the heart rate is estimated directly from the BCG beat without the use of a heartbeat template. Compared with other methods, the proposed method has strong advantages in heart rate data accuracy and anti-interference, and it also realizes non-contact online detection. Finally, by analyzing the data of more than 20,000 heart rates of 13 subjects, the average beat error was 0.86% and the coverage was 96.71%. It provides a new way to estimate heart rate for hospital clinical and home care.