wherein, V_p is the number of pixels that the object travels across per unit time on the imaging plane of the image capturing module; p₂ is a size of a single pixel of the image capturing module; f₂ is a focal length of the image capturing module; p₁ is a size of a single pixel of the line scan camera; and f₁ is a focal length of the line scan camera.

Optionally, the direction of motion of the object is a direction from the image capturing module towards the line scan camera.

Optionally, the step of determining line frequency for image capturing according to the speed of the object includes:

determining the line frequency for image capturing according to the speed of the object, the number of pixels per one row of the line scan camera and a preset scale factor.

Optionally, the step of determining the line frequency for image capturing according to the speed of the object, the number of pixels per one row of the line scan camera and the preset scale factor includes:

calculating the line frequency for image capturing Q according to the following formula:
Q=k*w*v;

wherein v is the speed of the object; w is the number of pixels per one row of the line scan camera; and k is the preset scale factor.

Optionally, the measuring of the speed of the object includes: detecting a change in the speed of the object; and in response to that a change in the speed of the object is detected, determining the changed speed;

wherein the determining of the line frequency for image capturing according to the speed of the object includes: determining new line frequency for image capturing according to the changed speed;