In this study, an extraction method of failure sound signal which is strongly contaminated by noise is investigated by genetic algorithm and statistical tests of the frequency domain for the failure diagnosis of machinery. In order to check the extraction accuracy of the failure signal and obtain the optimum extraction of failure signal, the "existing probability Ps (t*k) of failure signal" and statistical information Iqp are defined as the standard indices for evaluation of the extraction results. It has been proven by practical field data and application of the inspection and diagnosis robot that the extraction method discussed in this paper is effective for detection of a failure and distinction of it's origin in the diagnosis of machinery.