To efficiently solve the multi-crane scheduling problem during the production process，a novel projection model of trajectories the proposed with the consideration of initial states of tasks and space-time constraints. Based on the differential evolution algorithm，stock allocation rules and a crane allocation algorithm were combined to guide the optimization process in each iteration. Taking the minimization of delay cost and waiting cost as the evaluation indices，the simulation experiment was designed and compared with the classical multi-objective optimization algorithms. The results show that the algorithm is effective and feasible. Further numerical experiments indicate that reasonable scheduling rules can effectively improve the crane scheduling performance.