WO2020097848A1

WO2020097848A1 - Program refresh method and system

Info

Publication number: WO2020097848A1
Application number: PCT/CN2018/115619
Authority: WO
Inventors: 武志鹏; 王欣伟; 马光伟; 满新江; 刘鑫; 张良; 刘文胜; 王辉
Original assignee: 潍柴动力股份有限公司
Priority date: 2018-11-15
Filing date: 2018-11-15
Publication date: 2020-05-22
Also published as: CN112584940B; CN112584940A

Abstract

The present invention provides an ECU program refresh method and system; an ECU pickup apparatus, after receiving device information of a device to be refreshed, sent by a bar code printing and pasting apparatus, holds the device to be refreshed and rotates same by a preset angle to a positioning apparatus; said ECU pickup apparatus receives connection jack position information of the device to be refreshed, fed back by the positioning apparatus; according to said connection jack position information, the ECU pickup apparatus places the device to be refreshed onto a target refresh platform corresponding to the device to be refreshed. In the embodiments of the present invention, the ECU pickup apparatus may, according to the connection jack position information, place the device to be refreshed on a target refresh platform corresponding to the device to be refreshed, and it is unnecessary to manually place the ECU on the refresh platform, thus reducing human labor.

Description

Program flashing method and system

Technical field

The present invention relates to the field of program flashing, and more specifically, to a method and system for flashing ECU programs.

Background technique

ECU: Electronic Control Unit, in the common rail accumulator injection system, the ECU receives the signal from each sensor and uses the solenoid valve on the injector to let the diesel be injected at the correct injection point with the correct injection pressure The correct fuel injection quantity ensures the best combustion ratio, atomization and optimal ignition time of the diesel engine, as well as good economy and minimum pollution emissions.

Before the ECU is used, it is necessary to flash the ECU program in the ECU. Before flashing the ECU program, the ECU needs to be manually placed on the flashing table manually, wasting manpower.

Summary of the invention

In view of this, the present invention provides an ECU program flashing method and system to solve the problem of manually placing the ECU on the flashing table manually before flashing the ECU program, which wastes manpower.

In order to solve the above technical problems, the present invention adopts the following technical solutions:

A program flashing method, including:

After the ECU pick-up device receives the device information of the device to be flashed and sent by the barcode printing and pasting device, it clamps the device to be flashed to rotate the preset angle to the positioning device;

The ECU pickup device receives the position information of the socket of the device to be written back fed by the positioning device;

The ECU pick-up device places the device to be flashed on the target flashing table corresponding to the device to be flashed based on the information on the position of the socket.

Preferably, the ECU pick-up device places the device to be flashed on the target flashing table corresponding to the device to be flashed according to the information on the position of the socket, including:

The ECU pickup device acquires the position information of the target flashing table corresponding to the device to be flashed;

The ECU pickup device calculates the relative position of the device to be written and the target brushing station based on the position information of the socket and the position information;

The ECU pickup device places the device to be flashed on the target flashing table according to the relative position.

Preferably, before the ECU pickup device receives the device information of the device to be flashed and sent by the barcode printing and pasting device, the method further includes:

The device selection device determines, according to the flashing sequence information, whether the device to be shipped out is the device to be flashed;

If yes, the device selection device controls the device to be flashed to move to the barcode printing and pasting device;

When the device to be flashed is moved to the barcode printing and pasting device, the barcode printing and pasting device pastes the barcode including the device information of the device to be flashed according to the factory information of the device to be flashed On the device to be flashed;

The barcode printing and pasting device sends the device information of the device to be flashed to the ECU pickup device and the program flashing device;

The program flashing device receives device information of the device to be flashed.

Preferably, the barcode printing and pasting device pastes the barcode including the device information of the device to be flashed onto the device to be flashed according to the factory information of the device to be flashed, including:

The barcode printing and pasting device searches for device information of the device to be written corresponding to the factory information of the device to be written;

The barcode printing and pasting device prints a barcode including device information of the device to be written;

The barcode printing and pasting device pastes the barcode onto the device to be written.

Preferably, the ECU pickup device, after placing the device to be flashed on the target flashing table corresponding to the device to be flashed according to the position information of the socket, further includes:

The program flashing device controls the action of the fixing device to clamp the device to be flashed, and interfaces the program flashing device with the device to be flashed;

The program flashing device obtains a flashing program corresponding to the device information of the device to be flashed;

The program flashing device flashes the flashing program into the device to be flashed.

Preferably, after the program flashing device flashes the flashing program into the device to be flashed, the method further includes:

The program flashing device generates a flashing result, and feeds back the flashing result to the ECU pickup device;

If the flashing result indicates that the flashing is successful, the ECU pickup device grabs the device to be flashed and places it at the first designated location;

If the flashing result indicates that the flashing has failed, the ECU pickup device grabs the device to be flashed and places it at the second designated location.

A program flashing system, including:

ECU pickup device, barcode printing and pasting device and program flashing device;

The barcode printing and pasting device is used to send the device information of the device to be flashed to the ECU pickup device and the program flashing device;

The ECU pick-up device is used for receiving the device information of the device to be written and sent by the barcode printing and pasting device, clamping the device to be brushed to rotate a preset angle to the positioning device, and receiving the device According to the location information of the socket of the writing device, according to the location information of the socket, place the device to be flashed on the target flashing table corresponding to the device to be flashed;

The program flashing device is used to receive device information of the device to be flashed, control the action of the fixing device to clamp the device to be flashed, and perform the program flashing device with the device to be flashed An interface is connected to obtain a flash program corresponding to the device information of the device to be flashed, and the flash program is flashed into the device to be flashed.

Preferably, the device selection device is also included;

The device selection device is used to determine whether the device to be removed from the library is the device to be written according to the sequence information; if so, control the device to be moved to the barcode printing and pasting device;

The barcode printing and pasting device is also used to include the device information of the device to be flashed according to the factory information of the device to be flashed when the device to be flashed is moved to the barcode printing and pasting device Paste the barcode on the device to be written.

Preferably, the ECU pickup device is used to place the device to be flashed on the target flashing table corresponding to the device to be flashed according to the position information of the socket, specifically:

Acquiring the location information of the target flashing station corresponding to the device to be flashed;

Calculating the relative position of the device to be written and the target brushing station according to the position information of the socket and the position information;

According to the relative position, the device to be flashed is placed on the target flashing table.

Preferably, after the program flashing device is used to flash the flashing program into the device to be flashed, it is also used to:

Generating a flashing result, and feeding back the flashing result to the ECU pickup device;

The ECU pickup device is also used to grab the device to be flashed if the flashing result indicates that the flashing is successful, and place it in the first designated position; if the flashing result indicates that the flashing fails, grab The device to be flashed and placed in the second designated position.

Compared with the prior art, the present invention has the following beneficial effects:

The present invention provides a method and system for flashing an ECU program. In the embodiment of the present invention, the ECU pickup device may place the device to be flashed in phase with the device to be flashed according to the position information of the socket On the corresponding target writing platform, there is no need to manually place the ECU on the writing platform, saving manpower.

BRIEF DESCRIPTION

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only This is an embodiment of the present invention. For a person of ordinary skill in the art, without paying any creative labor, other drawings may be obtained according to the provided drawings.

FIG. 1 is a flowchart of a method for flashing a program according to an embodiment of the present invention;

2 is a schematic structural diagram of a program flashing system according to an embodiment of the present invention;

FIG. 3 is a flowchart of another method for flashing a program according to an embodiment of the present invention;

FIG. 4 is a flow chart of another method for flashing a program according to an embodiment of the present invention;

FIG. 5 is a flowchart of another method for flashing a program according to an embodiment of the present invention;

6 is a schematic structural diagram of an ECU provided by an embodiment of the present invention;

7 is a schematic diagram of a scene of a flash interface provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of a scene of a writing platform provided by an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

An embodiment of the present invention provides a program flashing method. Referring to FIG. 1, it may include:

S11. After the ECU pick-up device receives the device information of the device to be flashed and sent by the barcode printing and pasting device, it clamps the device to be flashed to rotate the preset angle to the positioning device;

Specifically, referring to FIG. 2, FIG. 2 is the entire program flashing system, including industrial computer 1, belt line 2, ECU turntable material library 3, elevator and ECU gripper 4, barcode printing and pasting equipment 5, visual recognition and ECU handover Hand grip 6, brush writing table 7, mechanical arm 8, robot body and base 9, protective net 10, safety door 11, ECU material cart and turning device 12, ECU feeding device 13, electric control cabinet 14, display display panel 15. Among them, the safety door 11 is used for maintenance personnel to access to maintain the equipment, and there are some control buttons in the electric control cabinet 14, which can be manually controlled by the maintenance personnel during commissioning and maintenance. The function of the display board 15 is to display the status of flashing, such as the number of planned flashing, how many blocks have been successfully flashed, how many blocks failed to flash, and detailed flashing status of different ECUs. The ECU pickup device includes a visual recognition and ECU hand grip 6 and a robot arm 8. The visual recognition and ECU hand-over gripper 6 cooperates with the robot arm 8 to transport different types of ECUs to different writing stations. The device selection device may include an elevator and an ECU gripper 4 for taking the ECU on different levels of the material library by lifting.

The barcode printing and pasting equipment may be a coding machine and a pasting device. The ECU pickup device may be a mechanical arm. Bar code printing and pasting equipment, ECU pick-up device and program flashing equipment communicate by means of transmission control protocol TCP. The control system can control the device selection device, barcode printing and pasting device, ECU pickup device and program flashing device to execute the corresponding functions.

Specifically, the device to be flashed is the ECU to be flashed. After the barcode printing and pasting device 5 has pasted the barcode on the device to be flashed, the barcode printing and pasting device will send the device information of the device on the barcode to the ECU to be picked Device and program flash device. After that, the device to be written with the barcode attached will be transported to the device pickup position through the slide rail.

At this time, the ECU pickup device will pick up the device to be flashed, and rotate the preset angle to the positioning device. Referring to FIG. 2, the positioning device is provided on the right side of the ECU pickup device. This embodiment does not do specific location of the positioning device limited.

When the device to be flashed moves to the positioning device, the positioning device will detect the position information of the socket of the device to be flashed, and send the position information of the socket of the device to be flashed to the ECU pickup device. The positioning device may be a laser positioning device.

S12. The ECU pickup device receives the socket position information of the to-be-written device fed back by the positioning device;

S13. The ECU pickup device places the device to be flashed on the target flashing table corresponding to the device to be flashed according to the position information of the socket.

It should be noted that after the ECU pick-up device places the device to be flashed on the target flashing table, the ECU pick-up device returns to the initial position, and steps S11-S13 can be re-executed, ie, the next device to be flashed is placed on the target Writing desk.

Optionally, on the basis of this embodiment, step S13 may include:

S31. The ECU pickup device acquires the position information of the target flashing table corresponding to the device to be flashed;

Specifically, after receiving the device information of the device to be flashed, the ECU pickup device searches for the target flashing station corresponding to the device information, and acquires the position information of the target flashing station.

S32. The ECU pickup device calculates the relative position of the device to be flashed and the target flashing station based on the location information of the socket and the location information;

Specifically, after the location information of the socket to be flashed is determined, the location information of the target flashing station is also known, then the location information of the socket on the target flashing station can be determined according to the location information of the target flashing station, Then, the relative position of the device to be flashed and the target flashing station is calculated according to the position information of the socket of the device to be flashed and the position information of the socket on the target flashing station.

S33. The ECU pickup device places the device to be flashed on the target flashing table according to the relative position.

Specifically, after the relative position is determined, the ECU pick-up device can clamp the device to be flashed to the target flashing table according to the relative position between the device to be flashed and the target flashing table.

In the embodiment of the present invention, the ECU pick-up device may place the device to be flashed on the target flashing table corresponding to the device to be flashed according to the position information of the socket, without manual ECU Manually placed on the brush writing table, saving manpower. In addition, through the cooperation of the robot arm and laser positioning, it is possible to accurately place the device to be written on the writing table to replace the manual connection.

Optionally, on the basis of any of the foregoing embodiments, before step S11, the method further includes:

1) The device selection device determines, according to the flashing sequence information, whether the device to be removed from the library is the device to be flashed;

Specifically, a plurality of devices to be removed are placed in the ECU carousel-type material storehouse, and the ECU carousel-type material storehouse continuously rotates. The device selection device determines whether the device to be removed from the library is the device to be flashed according to the flashing sequence information.

Specifically, according to the flashing sequence information, the process of determining whether the device to be removed from the library is the device to be flashed may be:

The flashing sequence information includes the flashing sequence of the device to be flashed, and the device selection device can recognize the shipment information of the device to be removed from the image through the image, and determine whether the device to be removed is the flashing device to be flashed from the shipment information .

It should be noted that if the ECUs on the ECU turntable material library are placed in the order of flashing, the ECUs on the ECU turntable material library can be directly written into the program in sequence.

If the ECUs on the ECU turntable material library are not placed in the order of flashing, you can manually adjust the order of the ECUs on the ECU turntable material library, or through the device selection device according to the flashing order of the device to be written Whether the library device is the device to flash the program, if not, skip it, if so, ship the device and flash the program.

2) If yes, the device selection device controls the device to be flashed to move to the barcode printing and pasting device;

If the to-be-outbound device is the to-be-flashed device to be flashed, the device selection device moves the to-be-outbound device to the belt line. After the belt line moves to the end of the belt line, it is picked up by the elevator and the ECU gripper 6 to the barcode printing and pasting equipment.

3) When the device to be flashed is moved to the barcode printing and pasting device, the barcode printing and pasting device will include the barcode of the device information of the device to be flashed according to the factory information of the device to be flashed Paste on the device to be written;

Specifically, when the device to be flashed is moved to the barcode printing and pasting device, the barcode printing and pasting device recognizes the factory information of the device to be flashed through image recognition technology, and finds the device to be written corresponding to the factory information Device information, and paste the barcode including the device information of the device to be flashed onto the device to be flashed.

Optionally, on the basis of this embodiment, referring to FIG. 3, the barcode printing and pasting device pastes the barcode including the device information of the device to be flashed to the barcode according to the factory information of the device to be flashed On the device to be flashed, including:

S31. The barcode printing and pasting device searches for device information of the device to be written corresponding to the factory information of the device to be written;

Specifically, the correspondence between the factory information and the device information of the device to be flashed is preset, for example, the correspondence between the factory information and the device information can be stored in a table, in this embodiment, only the The device information of the device to be flashed corresponding to the factory information of the device may be sufficient.

S32. The barcode printing and pasting device prints a barcode including device information of the device to be flashed;

After the device information of the device to be flashed is determined, the barcode including the device information of the device to be flashed can be printed out.

S33. The barcode printing and pasting device pastes the barcode onto the device to be written.

4) The barcode printing and pasting device sends the device information of the device to be flashed to the ECU pickup device and the program flashing device;

The barcode printing and pasting device sends the device information of the device to be flashed to the ECU pickup device and the program flashing device, in order to inform the ECU pickup device and the program flashing device of the device information of the device to be flashed, so that the ECU pickup device The device information determines the target flashing station, and the program flashing device determines the flashing program based on the device information.

After that, the device to be flashed is slid to the grip of the ECU pickup device by the elevator and the ECU gripper 4.

5) The program flashing device receives device information of the device to be flashed.

In this embodiment, the device selection device and the bar code printing and pasting device can cooperate to remove the device to be written and paste the bar code.

Optionally, on the basis of the above-mentioned embodiment of "the program flashing device receives device information of the device to be flashed", referring to FIG. 5, after step S13, it may further include:

S54. The program flashing device controls the action of the fixing device to clamp the device to be flashed, and interfaces the program flashing device with the device to be flashed;

Specifically, the fixing device is a cylinder device. When the device to be flashed is placed on the target flashing table, the cylinder device acts to press the device to be flashed, and during the operation of the cylinder, the socket of the program flash device is The socket of the device to be written is connected.

It should be noted that the socket is connected by clamping the writing device and the writing table. During the clamping process, it is necessary to ensure that the writing table is connected to the pins of the ECU, and other pins cannot be damaged. Realize precise clamping in millimeters. Among them, the configuration diagram of the ECU refers to FIG. 6.

S55. The program flashing device acquires a flashing program corresponding to the device information of the device to be flashed;

Specifically, the correspondence between the device information and the flash program has been preset, and in this embodiment, it is only necessary to search for the corresponding flash program according to the device information. In the process of flashing the program, the display interface of the program flashing device can refer to FIG. 7.

S56. The program flashing device flashes the flashing program into the device to be flashed.

Specifically, the program flashing device may write the flash program into the device to be flashed.

It should be noted that there may be a plurality of flashing stations, as shown in FIG. 2, there are 12 flashing stations in total. When multiple flashing stations are placed with devices to be flashed, simultaneous flashing can be achieved. Specifically, a computer is connected with multiple program flashing devices through an adapter, and the multiple program flashing devices can flash the program at the same time, that is, the program is flashed simultaneously in a multi-threaded manner, thereby improving the flashing efficiency. Optionally, one computer is connected to four program flashing devices, and there can be three computers with a total of twelve program flashing devices. Refer to Figure 8 for the structure of the twelve brush writing stations.

Optionally, on the basis of this embodiment, after step S56, it may further include:

1) The program flashing device generates a flashing result, and feeds back the flashing result to the ECU pickup device;

Specifically, after the program flashing device writes the flashing program into the device to be flashed, a flashing result is generated according to whether the flashing program is successfully flashed, and the flashing result is fed back to the ECU pickup device.

2) If the flashing result indicates that the flashing is successful, the ECU pickup device grabs the device to be flashed and places it at the first designated location;

Specifically, if the program is successfully flashed, the ECU pick-up device grabs the device to be flashed and places it at a first designated position, which may be the ECU feeding device in FIG. 2, and the ECU feeding device Enter the ECU material trolley and rotating device.

In addition, the ECU pickup device grabs the to-be-written device before placing it at the first designated position, and can also grab the to-be-written device to the elevator to verify the quality of the spray code. Take the device to be written and place it in the first designated location.

3) If the flashing result indicates that the flashing failed, the ECU pickup device grabs the device to be flashed and places it at the second designated location.

Specifically, if the flashing result indicates that the flashing failed, the ECU pick-up device grabs the device to be flashed and places it at a second designated location, which may be the ECU feeding device in FIG. 2 In the recycling conveyor on the left.

In this embodiment, the program flashing device may write the program for the device to be flashed after the connection between the device to be flashed and the program flashing device is connected, and after the program is written, according to whether the program flashes successfully , Put the device to be flashed into a different location. In addition, in this embodiment, the manual clamping connection is replaced by the way of clamping the writing device and the writing platform to realize automatic connection. Third, in this embodiment, a multi-adapter and a program flashing device are used to implement a computer to flash multiple ECUs at the same time, which solves the bottleneck that cannot be flashed at the same time. Fourth, the program flashing device automatically completes the flashing, avoiding manual errors such as wrong brushing and missing brushing, and ensuring the quality of ECU products.

Optionally, based on the above embodiment of the program flashing method, another embodiment of the present invention provides a program flashing system, which may include:

Further, it also includes a device selection device;

Further, when the ECU pickup device is used to place the device to be flashed on the target flashing table corresponding to the device to be flashed according to the position information of the socket, it is specifically used to:

Further, after the program flashing device is used to flash the flashing program into the device to be flashed, it is also used to:

Further, the barcode printing and pasting device is used for pasting the barcode including the device information of the device to be flashed on the device to be flashed according to the factory information of the device to be flashed, specifically:

It should be noted that for the working process of the ECU pickup device, barcode printing and pasting device, program flashing device, and device selection device, please refer to the corresponding descriptions in the above embodiments, which will not be repeated here.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown in this document, but should conform to the widest scope consistent with the principles and novel features disclosed in this document.

Claims

A program flashing method, which is characterized by including:

After the ECU pick-up device receives the device information of the device to be flashed and sent by the barcode printing and pasting device, it clamps the device to be flashed to rotate the preset angle to the positioning device;

The ECU pickup device receives the position information of the socket of the device to be written back fed by the positioning device;

The ECU pick-up device places the device to be flashed on the target flashing table corresponding to the device to be flashed based on the information on the position of the socket.
The program flashing method according to claim 1, wherein the ECU pickup device places the device to be flashed to a target brush corresponding to the device to be flashed based on the socket position information Writing desk, including:

The ECU pickup device acquires the position information of the target flashing table corresponding to the device to be flashed;

The ECU pickup device calculates the relative position of the device to be written and the target brushing station based on the position information of the socket and the position information;

The ECU pickup device places the device to be flashed on the target flashing table according to the relative position.
The program flashing method according to claim 1, wherein before the ECU pickup device receives the device information of the device to be flashed and sent by the barcode printing and pasting device, the method further comprises:

The device selection device determines, according to the flashing sequence information, whether the device to be shipped out is the device to be flashed;

If yes, the device selection device controls the device to be flashed to move to the barcode printing and pasting device;

When the device to be flashed is moved to the barcode printing and pasting device, the barcode printing and pasting device pastes the barcode including the device information of the device to be flashed according to the factory information of the device to be flashed On the device to be flashed;

The barcode printing and pasting device sends the device information of the device to be flashed to the ECU pickup device and the program flashing device;

The program flashing device receives device information of the device to be flashed.
The program flashing method according to claim 3, wherein the barcode printing and pasting device pastes the barcode including the device information of the device to be flashed to the barcode according to the factory information of the device to be flashed On the device to be flashed, including:

The barcode printing and pasting device searches for device information of the device to be written corresponding to the factory information of the device to be written;

The barcode printing and pasting device prints a barcode including device information of the device to be written;

The barcode printing and pasting device pastes the barcode onto the device to be written.
The program flashing method according to claim 3, wherein the ECU pickup device places the device to be flashed to a target brush corresponding to the device to be flashed based on the socket position information After writing on stage, it also includes:

The program flashing device controls the action of the fixing device to clamp the device to be flashed, and interfaces the program flashing device with the device to be flashed;

The program flashing device obtains a flashing program corresponding to the device information of the device to be flashed;

The program flashing device flashes the flashing program into the device to be flashed.
The program flashing method according to claim 5, wherein after the program flashing device flashes the flashing program into the device to be flashed, the method further comprises:

The program flashing device generates a flashing result, and feeds back the flashing result to the ECU pickup device;

If the flashing result indicates that the flashing is successful, the ECU pickup device grabs the device to be flashed and places it at the first designated location;

If the flashing result indicates that the flashing has failed, the ECU pickup device grabs the device to be flashed and places it at the second designated location.
A program flashing system is characterized by including:

ECU pickup device, barcode printing and pasting device and program flashing device;

The barcode printing and pasting device is used to send the device information of the device to be flashed to the ECU pickup device and the program flashing device;

The ECU pick-up device is used for receiving the device information of the device to be written and sent by the barcode printing and pasting device, clamping the device to be brushed to rotate a preset angle to the positioning device, and receiving the device According to the location information of the socket of the writing device, according to the location information of the socket, place the device to be flashed on the target flashing table corresponding to the device to be flashed;

The program flashing device is used to receive device information of the device to be flashed, control the action of the fixing device to clamp the device to be flashed, and perform the program flashing device with the device to be flashed An interface is connected to obtain a flash program corresponding to the device information of the device to be flashed, and the flash program is flashed into the device to be flashed.
The program flashing system according to claim 7, further comprising a device selection device;

The device selection device is used to determine whether the device to be removed from the library is the device to be written according to the sequence information; if so, control the device to be moved to the barcode printing and pasting device;

The barcode printing and pasting device is also used to include the device information of the device to be flashed according to the factory information of the device to be flashed when the device to be flashed is moved to the barcode printing and pasting device Paste the barcode on the device to be written.
The program flashing system according to claim 7, characterized in that the ECU pickup device is used to place the device to be flashed to a position corresponding to the device to be flashed according to the position information of the socket When the target is refreshed, it is used to:

Acquiring the location information of the target flashing station corresponding to the device to be flashed;

Calculating the relative position of the device to be written and the target brushing station according to the position information of the socket and the position information;

According to the relative position, the device to be flashed is placed on the target flashing table.
The program flashing system according to claim 7, wherein the program flashing device is used to flash the flashing program into the device to be flashed, and is also used to:

Generating a flashing result, and feeding back the flashing result to the ECU pickup device;

The ECU pickup device is also used to grab the device to be flashed if the flashing result indicates that the flashing is successful, and place it in the first designated position; if the flashing result indicates that the flashing fails, grab The device to be flashed and placed in the second designated position.