hi,
As the signal Vmax is only 2.1V and the Vbe junction of the transistor is about 0.7V, this means the 10K series resistor has only 1.4V across it.
This gives a base current of only 0.14mA!, if the transistor has a gain of 100,the transistor will only have a collector current
in the order of 14mA, which is too low to drive a relay.
I would reduce the 10K resistor to a value of about 330R.
What is the purpose of the relay in the IR sensor circuit,
[do not connect as relay to a MCU as you have drawn it, the back emf could damage the MCU]
It would be possible to connect a 4K7 resistor in place of the relay and use the transistor collector out of 0V/+5V to drive
the MCU pin.
[the signal would be inverted, but this should be easy to correct in the program].