Apple pencil keeps disconnecting

Hi, have anyone experience your apple pencil keeps disconnecting when you are using it? I use it every single day...but recently it keeps happening and it really troublesome because i need to wait for a while ( like 1-2 minute) for it to get connected again..or take off the cap and plug it in to the ipad... it can happens every 5 minute when i draw with procreate... i also use it to write on goodnotes...and the same thing happen... when i check the bluetooth connection, the status is actually still connected... i’m so confused. Please help.