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With the development of the related technologies and the increasing applications of ad hoc networks, pervasive computing is becoming more and more powerful. In order to achieve the goal of wide use of computing capability at anytime and everywhere, service discovery service must be used in pervasive computing applications. As a very important problem in pervasive computing, there have been lots of researches on service discovery, but the load balance problem has been ignored. While it is essential that services could be found in pervasive computing environment, it is also important that each device that can provide services is load balancing. In this paper, we present a service discovery and invocation algorithm that is lightweight, fault-tolerant and load balancing. From the simulation results, we can see that the algorithm is reliable and robust enough to adapt to the devices limitation and frequent changes of devices in pervasive computing environment.