Hi Newchange,
I am sorry you are going through all of this. The links Anna posted are great resources, please look into them.
You definitely need to find someplace safe for you and your kids to stay. Did you say you have family nearby? Also, please contact the police and get a restraining order. You should be able to get an emergency court order to stop any visitation with your children right now.
Are you seeing a doctor during your pregnancy? Make an appointment with them to talk about your feelings, and also see if they can refer you to s counselor to help you through this.
Please do not take this man back, he has proven that he is not safe for you or your kids to be around.
Please check in and let us know how you are doing.