AirPods disconnecting

I have had my AirPods since last February and they have been perfect up until the past few weeks. Recently when I've been using them with my iPhone 7 , they will randomly stop playing any sound. It usually seems to happen when I put my phone back in my pocket or down on a table. My phone will say they are still connected and the music will continue to play but I can't get them to play sound unless I take them both out of my ears and put them back in. Has anyone else experienced anything like this with their AirPods? I have tried to troubleshoot this by restarting my phone multiple times, toggling bluetooth, re-pairing the AirPods - nothing seems to work. I'm not sure if it's an AirPod problem or an iOS bug.