diff --git a/apisix/balancer.lua b/apisix/balancer.lua
index ccf7d62026fa4..219eb0c4f3c09 100644
--- a/apisix/balancer.lua
+++ b/apisix/balancer.lua
@@ -67,7 +67,7 @@ local function fetch_health_nodes(upstream, checker)
     end
 
     if core.table.nkeys(up_nodes) == 0 then
-        core.log.warn("all upstream nodes is unhealth, use default")
+        core.log.warn("all upstream nodes is unhealthy, use default")
         for _, node in ipairs(nodes) do
             up_nodes[node.host .. ":" .. node.port] = node.weight
         end
diff --git a/apisix/init.lua b/apisix/init.lua
index bdbde96aef0de..af465887ff39e 100644
--- a/apisix/init.lua
+++ b/apisix/init.lua
@@ -24,6 +24,7 @@ local admin_init    = require("apisix.admin.init")
 local get_var       = require("resty.ngxvar").fetch
 local router        = require("apisix.router")
 local set_upstream  = require("apisix.upstream").set_by_route
+local upstream_util = require("apisix.utils.upstream")
 local ipmatcher     = require("resty.ipmatcher")
 local ngx           = ngx
 local get_method    = ngx.req.get_method
@@ -32,7 +33,6 @@ local math          = math
 local error         = error
 local ipairs        = ipairs
 local tostring      = tostring
-local type          = type
 local ngx_now       = ngx.now
 local str_byte      = string.byte
 local str_sub       = string.sub
@@ -237,29 +237,6 @@ local function parse_domain_for_nodes(nodes)
 end
 
 
-local function compare_upstream_node(old_t, new_t)
-    if type(old_t) ~= "table" then
-        return false
-    end
-
-    if #new_t ~= #old_t then
-        return false
-    end
-
-    for i = 1, #new_t do
-        local new_node = new_t[i]
-        local old_node = old_t[i]
-        for _, name in ipairs({"host", "port", "weight"}) do
-            if new_node[name] ~= old_node[name] then
-                return false
-            end
-        end
-    end
-
-    return true
-end
-
-
 local function parse_domain_in_up(up)
     local nodes = up.value.nodes
     local new_nodes, err = parse_domain_for_nodes(nodes)
@@ -268,7 +245,7 @@ local function parse_domain_in_up(up)
     end
 
     local old_dns_value = up.dns_value and up.dns_value.nodes
-    local ok = compare_upstream_node(old_dns_value, new_nodes)
+    local ok = upstream_util.compare_upstream_node(old_dns_value, new_nodes)
     if ok then
         return up
     end
@@ -291,7 +268,7 @@ local function parse_domain_in_route(route)
     end
 
     local old_dns_value = route.dns_value and route.dns_value.upstream.nodes
-    local ok = compare_upstream_node(old_dns_value, new_nodes)
+    local ok = upstream_util.compare_upstream_node(old_dns_value, new_nodes)
     if ok then
         return route
     end
diff --git a/apisix/upstream.lua b/apisix/upstream.lua
index 096f81e78430c..96fcdfaa5a123 100644
--- a/apisix/upstream.lua
+++ b/apisix/upstream.lua
@@ -17,6 +17,7 @@
 local require = require
 local core = require("apisix.core")
 local discovery = require("apisix.discovery.init").discovery
+local upstream_util = require("apisix.utils.upstream")
 local error = error
 local tostring = tostring
 local ipairs = ipairs
@@ -144,9 +145,18 @@ function _M.set_by_route(route, api_ctx)
 
         local dis = discovery[up_conf.discovery_type]
         if not dis then
-            return 500, "discovery " .. up_conf.discovery_type .. "is uninitialized"
+            return 500, "discovery " .. up_conf.discovery_type .. " is uninitialized"
+        end
+        local new_nodes = dis.nodes(up_conf.service_name)
+        local same = upstream_util.compare_upstream_node(up_conf.nodes, new_nodes)
+        if not same then
+            up_conf.nodes = new_nodes
+            local new_up_conf = core.table.clone(up_conf)
+            core.log.info("discover new upstream from ", up_conf.service_name, ", type ",
+                          up_conf.discovery_type, ": ",
+                          core.json.delay_encode(new_up_conf))
+            up_conf = new_up_conf
         end
-        up_conf.nodes = dis.nodes(up_conf.service_name)
     end
 
     set_directly(api_ctx, up_conf.type .. "#upstream_" .. tostring(up_conf),
diff --git a/apisix/utils/upstream.lua b/apisix/utils/upstream.lua
new file mode 100644
index 0000000000000..346789aa1f665
--- /dev/null
+++ b/apisix/utils/upstream.lua
@@ -0,0 +1,56 @@
+--
+-- Licensed to the Apache Software Foundation (ASF) under one or more
+-- contributor license agreements.  See the NOTICE file distributed with
+-- this work for additional information regarding copyright ownership.
+-- The ASF licenses this file to You under the Apache License, Version 2.0
+-- (the "License"); you may not use this file except in compliance with
+-- the License.  You may obtain a copy of the License at
+--
+--     http://www.apache.org/licenses/LICENSE-2.0
+--
+-- Unless required by applicable law or agreed to in writing, software
+-- distributed under the License is distributed on an "AS IS" BASIS,
+-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+-- See the License for the specific language governing permissions and
+-- limitations under the License.
+--
+local core = require("apisix.core")
+local ipairs = ipairs
+local type = type
+
+
+local _M = {}
+
+
+local function sort_by_key_host(a, b)
+    return a.host < b.host
+end
+
+
+function _M.compare_upstream_node(old_t, new_t)
+    if type(old_t) ~= "table" then
+        return false
+    end
+
+    if #new_t ~= #old_t then
+        return false
+    end
+
+    core.table.sort(old_t, sort_by_key_host)
+    core.table.sort(new_t, sort_by_key_host)
+
+    for i = 1, #new_t do
+        local new_node = new_t[i]
+        local old_node = old_t[i]
+        for _, name in ipairs({"host", "port", "weight"}) do
+            if new_node[name] ~= old_node[name] then
+                return false
+            end
+        end
+    end
+
+    return true
+end
+
+
+return _M
diff --git a/t/node/healthcheck-discovery.t b/t/node/healthcheck-discovery.t
new file mode 100644
index 0000000000000..14515b35843dc
--- /dev/null
+++ b/t/node/healthcheck-discovery.t
@@ -0,0 +1,157 @@
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.
+# The ASF licenses this file to You under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with
+# the License.  You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+use t::APISIX 'no_plan';
+
+master_on();
+repeat_each(1);
+no_root_location();
+no_shuffle();
+
+add_block_preprocessor(sub {
+    my ($block) = @_;
+
+    if (!$block->yaml_config) {
+        my $yaml_config = <<_EOC_;
+apisix:
+    node_listen: 1984
+    config_center: yaml
+    enable_admin: false
+_EOC_
+
+        $block->set_value("yaml_config", $yaml_config);
+    }
+
+    if ($block->apisix_yaml) {
+        my $upstream = <<_EOC_;
+upstreams:
+    - service_name: mock
+      discovery_type: mock
+      type: roundrobin
+      id: 1
+      checks:
+        active:
+            http_path: "/status"
+            host: 127.0.0.1
+            port: 1988
+            healthy:
+                interval: 1
+                successes: 1
+            unhealthy:
+                interval: 1
+                http_failures: 1
+#END
+_EOC_
+
+        $block->set_value("apisix_yaml", $block->apisix_yaml . $upstream);
+    }
+
+    if (!$block->request) {
+        $block->set_value("request", "GET /t");
+    }
+
+    if ((!defined $block->error_log) && (!defined $block->no_error_log)) {
+        $block->set_value("no_error_log", "[error]");
+    }
+});
+
+run_tests();
+
+__DATA__
+
+=== TEST 1: sanity
+--- apisix_yaml
+routes:
+  -
+    uris:
+        - /hello
+    upstream_id: 1
+--- config
+    location /t {
+        content_by_lua_block {
+            local discovery = require("apisix.discovery.init").discovery
+            discovery.mock = {
+                nodes = function()
+                    return {
+                        {host = "127.0.0.1", port = 1980, weight = 1},
+                        {host = "0.0.0.0", port = 1980, weight = 1},
+                    }
+                end
+            }
+            local http = require "resty.http"
+            local uri = "http://127.0.0.1:" .. ngx.var.server_port .. "/hello"
+            local httpc = http.new()
+            local res, err = httpc:request_uri(uri, {method = "GET", keepalive = false})
+
+            ngx.sleep(0.5)
+
+            ngx.say(res.status)
+        }
+    }
+--- grep_error_log eval
+qr/unhealthy TCP increment \(1\/2\) for '127.0.0.1\([^)]+\)'/
+--- grep_error_log_out
+unhealthy TCP increment (1/2) for '127.0.0.1(127.0.0.1:1988)'
+unhealthy TCP increment (1/2) for '127.0.0.1(0.0.0.0:1988)'
+
+
+
+=== TEST 2: create new checker when nodes changed
+--- ONLY
+--- apisix_yaml
+routes:
+  -
+    uris:
+        - /hello
+    upstream_id: 1
+--- config
+    location /t {
+        content_by_lua_block {
+            local discovery = require("apisix.discovery.init").discovery
+            discovery.mock = {
+                nodes = function()
+                    return {
+                        {host = "127.0.0.1", port = 1980, weight = 1},
+                        {host = "0.0.0.0", port = 1980, weight = 1},
+                    }
+                end
+            }
+            local http = require "resty.http"
+            local uri = "http://127.0.0.1:" .. ngx.var.server_port .. "/hello"
+            local httpc = http.new()
+            local res, err = httpc:request_uri(uri, {method = "GET", keepalive = false})
+            ngx.sleep(0.5)
+
+            discovery.mock = {
+                nodes = function()
+                    return {
+                        {host = "127.0.0.1", port = 1980, weight = 1},
+                        {host = "127.0.0.2", port = 1980, weight = 1},
+                        {host = "127.0.0.3", port = 1980, weight = 1},
+                    }
+                end
+            }
+            local uri = "http://127.0.0.1:" .. ngx.var.server_port .. "/hello"
+            local httpc = http.new()
+            local res, err = httpc:request_uri(uri, {method = "GET", keepalive = false})
+            ngx.say(res.status)
+        }
+    }
+--- grep_error_log eval
+qr/create new checker: table/
+--- grep_error_log_out
+create new checker: table
diff --git a/t/node/upstream-discovery.t b/t/node/upstream-discovery.t
new file mode 100644
index 0000000000000..ca6882316a9f3
--- /dev/null
+++ b/t/node/upstream-discovery.t
@@ -0,0 +1,153 @@
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements.  See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership.
+# The ASF licenses this file to You under the Apache License, Version 2.0
+# (the "License"); you may not use this file except in compliance with
+# the License.  You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+use t::APISIX 'no_plan';
+
+master_on();
+repeat_each(1);
+no_root_location();
+no_shuffle();
+
+add_block_preprocessor(sub {
+    my ($block) = @_;
+
+    if (!$block->yaml_config) {
+        my $yaml_config = <<_EOC_;
+apisix:
+    node_listen: 1984
+    config_center: yaml
+    enable_admin: false
+_EOC_
+
+        $block->set_value("yaml_config", $yaml_config);
+    }
+
+    if ($block->apisix_yaml) {
+        my $upstream = <<_EOC_;
+upstreams:
+    - service_name: mock
+      discovery_type: mock
+      type: roundrobin
+      id: 1
+#END
+_EOC_
+
+        $block->set_value("apisix_yaml", $block->apisix_yaml . $upstream);
+    }
+
+    if (!$block->request) {
+        $block->set_value("request", "GET /t");
+    }
+
+    if ((!defined $block->error_log) && (!defined $block->no_error_log)) {
+        $block->set_value("no_error_log", "[error]");
+    }
+});
+
+run_tests();
+
+__DATA__
+
+=== TEST 1: create new server picker when nodes change
+--- apisix_yaml
+routes:
+  -
+    uris:
+        - /hello
+    upstream_id: 1
+--- config
+    location /t {
+        content_by_lua_block {
+            local discovery = require("apisix.discovery.init").discovery
+            discovery.mock = {
+                nodes = function()
+                    return {
+                        {host = "127.0.0.1", port = 1980, weight = 1},
+                        {host = "0.0.0.0", port = 1980, weight = 1},
+                    }
+                end
+            }
+            local http = require "resty.http"
+            local uri = "http://127.0.0.1:" .. ngx.var.server_port .. "/hello"
+            local httpc = http.new()
+            local res, err = httpc:request_uri(uri, {method = "GET", keepalive = false})
+            ngx.say(res.status)
+
+            discovery.mock = {
+                nodes = function()
+                    return {
+                        {host = "127.0.0.2", port = 1980, weight = 1},
+                        {host = "127.0.0.3", port = 1980, weight = 1},
+                    }
+                end
+            }
+            local uri = "http://127.0.0.1:" .. ngx.var.server_port .. "/hello"
+            local httpc = http.new()
+            local res, err = httpc:request_uri(uri, {method = "GET", keepalive = false})
+        }
+    }
+--- grep_error_log eval
+qr/create_obj_fun\(\): upstream nodes:/
+--- grep_error_log_out
+create_obj_fun(): upstream nodes:
+create_obj_fun(): upstream nodes:
+
+
+
+=== TEST 2: don't create new server picker if nodes don't change
+--- apisix_yaml
+routes:
+  -
+    uris:
+        - /hello
+    upstream_id: 1
+--- config
+    location /t {
+        content_by_lua_block {
+            local discovery = require("apisix.discovery.init").discovery
+            discovery.mock = {
+                nodes = function()
+                    return {
+                        {host = "127.0.0.1", port = 1980, weight = 1},
+                        {host = "0.0.0.0", port = 1980, weight = 1},
+                    }
+                end
+            }
+            local http = require "resty.http"
+            local uri = "http://127.0.0.1:" .. ngx.var.server_port .. "/hello"
+            local httpc = http.new()
+            local res, err = httpc:request_uri(uri, {method = "GET", keepalive = false})
+            ngx.say(res.status)
+
+            discovery.mock = {
+                nodes = function()
+                    return {
+                        {host = "0.0.0.0", port = 1980, weight = 1},
+                        {host = "127.0.0.1", port = 1980, weight = 1},
+                    }
+                end
+            }
+            local uri = "http://127.0.0.1:" .. ngx.var.server_port .. "/hello"
+            local httpc = http.new()
+            local res, err = httpc:request_uri(uri, {method = "GET", keepalive = false})
+        }
+    }
+--- grep_error_log eval
+qr/create_obj_fun\(\): upstream nodes:/
+--- grep_error_log_out
+create_obj_fun(): upstream nodes:
+create_obj_fun(): upstream nodes: