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Signal acquisition based on multiple sensors is widely used in many applications, especially in robot with binaural auditory system. This paper provides one recording procedure with dual-caching and multi-thread technologies for unlimited time and synchronized sound signal collecting. Besides, in order to solve time delay in multiple recording, timer must be taken in system procedure. Furthermore, use normalized method to handle raw PCM (Pulse Code Modulation) before transmitted to MATLAB; at last, amount of signal data fragment without sound signal will be cut with dual-threshold endpoint detection method. Through experiments, signal segment containing valid sound data can be well extracted, in a large extent which can optimize the redundant data.