Inspired by the application of recurrent neural networks (RNNs) to image recognition, in this paper, we propose a heartbeat detection framework based on the Gated Recurrent Unit (GRU) network. In this contribution, the heartbeat detection task from ballistocardiogram (BCG) signals was modeled as a classification problem where the segments of BCG signals were formulated as images fed into the GRU network for feature extraction. The proposed framework has advantages in fusion of multi-channel BCG signals and effective extraction of the temporal and waveform characteristics of the heartbeat signal, thereby enhancing heart rate estimation accuracy. In laboratory collected BCG data, the proposed method achieved the best heart rate estimation results compared to previous algorithms.