diff --git a/server/cluster/cluster.go b/server/cluster/cluster.go
index a96a40676384..61cbf8489dcb 100644
--- a/server/cluster/cluster.go
+++ b/server/cluster/cluster.go
@@ -671,6 +671,10 @@ func (c *RaftCluster) processReportBuckets(buckets *metapb.Buckets) error {
 	return nil
 }
 
+func (c *RaftCluster) IsPreapred() bool {
+	return c.coordinator.prepareChecker.isPrepared()
+}
+
 var regionGuide = core.GenerateRegionGuideFunc(true)
 
 // processRegionHeartbeat updates the region information.
@@ -737,7 +741,7 @@ func (c *RaftCluster) processRegionHeartbeat(region *core.RegionInfo) error {
 		regionEventCounter.WithLabelValues("update_cache").Inc()
 	}
 
-	if !c.coordinator.prepareChecker.isPrepared() || isNew {
+	if !c.IsPreapred() || isNew {
 		c.coordinator.prepareChecker.collect(region)
 	}
 
diff --git a/server/cluster/coordinator.go b/server/cluster/coordinator.go
index 4e7426132842..7b9ea908213f 100644
--- a/server/cluster/coordinator.go
+++ b/server/cluster/coordinator.go
@@ -42,7 +42,6 @@ import (
 )
 
 const (
-	runSchedulerCheckInterval  = 3 * time.Second
 	checkSuspectRangesInterval = 100 * time.Millisecond
 	collectFactor              = 0.8
 	collectTimeout             = 5 * time.Minute
@@ -56,6 +55,8 @@ const (
 	PluginUnload = "PluginUnload"
 )
 
+var runSchedulerCheckInterval = 3 * time.Second
+
 // coordinator is used to manage all schedulers and checkers to decide if the region needs to be scheduled.
 type coordinator struct {
 	syncutil.RWMutex
@@ -310,6 +311,9 @@ func (c *coordinator) runUntilStop() {
 }
 
 func (c *coordinator) run() {
+	failpoint.Inject("runSchedulerCheckInterval", func() {
+		runSchedulerCheckInterval = 100 * time.Millisecond
+	})
 	ticker := time.NewTicker(runSchedulerCheckInterval)
 	defer ticker.Stop()
 	log.Info("coordinator starts to collect cluster information")
diff --git a/tests/server/region_syncer/region_syncer_test.go b/tests/server/region_syncer/region_syncer_test.go
index f7bb3d776c5a..259e8e9debe9 100644
--- a/tests/server/region_syncer/region_syncer_test.go
+++ b/tests/server/region_syncer/region_syncer_test.go
@@ -210,6 +210,51 @@ func (s *regionSyncerTestSuite) TestFullSyncWithAddMember(c *C) {
 	c.Assert(loadRegions, HasLen, regionLen)
 }
 
+func (s *regionSyncerTestSuite) TestPrepareChecker(c *C) {
+	c.Assert(failpoint.Enable("github.com/tikv/pd/server/cluster/runSchedulerCheckInterval", `return(true)`), IsNil)
+	defer failpoint.Disable("github.com/tikv/pd/server/cluster/runSchedulerCheckInterval")
+	cluster, err := tests.NewTestCluster(s.ctx, 1, func(conf *config.Config, serverName string) { conf.PDServerCfg.UseRegionStorage = true })
+	defer cluster.Destroy()
+	c.Assert(err, IsNil)
+
+	err = cluster.RunInitialServers()
+	c.Assert(err, IsNil)
+	cluster.WaitLeader()
+	leaderServer := cluster.GetServer(cluster.GetLeader())
+	c.Assert(leaderServer.BootstrapCluster(), IsNil)
+	rc := leaderServer.GetServer().GetRaftCluster()
+	c.Assert(rc, NotNil)
+	regionLen := 110
+	regions := initRegions(regionLen)
+	for _, region := range regions {
+		err = rc.HandleRegionHeartbeat(region)
+		c.Assert(err, IsNil)
+	}
+
+	// ensure flush to region storage
+	time.Sleep(3 * time.Second)
+	c.Assert(leaderServer.GetRaftCluster().IsPreapred(), IsTrue)
+
+	// join new PD
+	pd2, err := cluster.Join(s.ctx)
+	c.Assert(err, IsNil)
+	err = pd2.Run()
+	c.Assert(err, IsNil)
+	// waiting for synchronization to complete
+	time.Sleep(3 * time.Second)
+	err = cluster.ResignLeader()
+	c.Assert(err, IsNil)
+	c.Assert(cluster.WaitLeader(), Equals, "pd2")
+	leaderServer = cluster.GetServer(cluster.GetLeader())
+	rc = leaderServer.GetServer().GetRaftCluster()
+	for _, region := range regions {
+		err = rc.HandleRegionHeartbeat(region)
+		c.Assert(err, IsNil)
+	}
+	time.Sleep(time.Second)
+	c.Assert(rc.IsPreapred(), IsTrue)
+}
+
 func initRegions(regionLen int) []*core.RegionInfo {
 	allocator := &idAllocator{allocator: mockid.NewIDAllocator()}
 	regions := make([]*core.RegionInfo, 0, regionLen)