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I have had blood in my urine just like you explained for years. I always had pelvic pain as well. About 3 years ago I was diag with Interstitial Cysitis (IC). It's a bladder disease and will cause blood in the urine. Once I was diagnosed other things made sense. I felt pains that I had no idea were my bladder all those years. My OBGYN finally sent me to a Urologist and they were able to make the diag fairly quickly.
Another common reason for blood in the urine is the presence of stones in the bladder or kidney. These are crystals that form from the minerals in your urine. They can develop inside your kidneys or bladder.