Aiming at the problems of high degree of theoretical abstraction and insufficient cases of practical application for the course of “Data structure and algorithm”, a data structure and algorithm visual debugging system of virtual simulation—DSAVDVR is designed and implemented. The virtual simulation system maps the knowledge points of data structure and algorithm into a practical engineering case of quadruped robot for oil and gas station, which are divided into four simulation sub-tasks of interactive operation as basic data structure and algorithm, task mapping of data structure and oil and gas inspection, path planning and evaluation of inspection and the detection and recognition for inspection targets. Each sub-task is designed to layer by layer to associate the change of data state with algorithm logic by using visual debugging technology, which is conducive to cultivate students' theoretical learning ability, problem-solving ability and research exploration ability. The new practical teaching model of engineering training is provided to cultivate practical and innovative talents for the computer industry of domestic universities.