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The real-time pickup and delivery problem with time windows (RTPDPTW), typically found in logistic company, is a problem of finding a set of optimal routes for a fleet of vehicles with fixed capacity in order to serve all the static and dynamic customers. Each customer is defined by a pickup point and a delivery point and a load. In this paper, the dynamic model of RTPDPTW is given firstly, and then the framework of scheduling system is proposed to deal with the dynamism of RTPDPTW. A quick heuristic algorithm based on lambda-opt algorithm, which is fast, simple and robust, is proposed to solve RTPDPTW with large scale. Finally, the simulation result shows that our scheduling system can generate satisfying solution and is capable of dealing with the RTPDPTW in real life conditions.