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If OpenOCD runs on an embedded host (as ZY1000 does), then TFTP can be used to access files on PCs (either the developer’s PC or some other PC).
The way this works on the ZY1000 is to prefix a filename by "/tftp/ip/" and append the TFTP path on the TFTP server (tftpd). For example,
load_image /tftp/10.0.0.96/c:\temp\abc.elf
will load c:\temp\abc.elf from the developer pc (10.0.0.96) into memory as if the file was hosted on the embedded host.
In order to achieve decent performance, you must choose a TFTP server that supports a packet size bigger than the default packet size (512 bytes). There are numerous TFTP servers out there (free and commercial) and you will have to do a bit of googling to find something that fits your requirements.