the control module is configured to determine line frequency for image capturing according to the speed of the vehicle, and control the line scan camera to perform image capturing on the chassis of the vehicle with the line frequency.

Optionally, the control module is further configured to:

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

Optionally, the control module is further configured to calculate the line frequency for image capturing Q according to the following formula:
Q=k*w*v;

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

Optionally, the speed measuring module is further configured to detect a change in the speed of the vehicle; and in response to that a change in the speed of the vehicle is detected, determine the changed speed;

wherein the control module is further configured to determine new line frequency for image capturing according to the changed speed;

and wherein the line scan camera is further configured to continue the image capturing on the chassis of the vehicle with the newly determined line frequency.

Optionally, the device further includes: a light filling module configured to provide fill-in light for the chassis of the vehicle under the control of the control module.

Optionally, the light filling module is arranged on a side of the line scan camera and located on a line scan direction of the line scan camera.

Optionally, the device further includes: