sealed lead acid battery charger

Use a charger that has a Float/Full switch. The float setting is designed for permanant charging (eg months). On the float setting the voltage is reduced to around 13.5V to prevent the battery "boiling" and loosing electrolyte. On the float setting all you need do is check the fluid levels every few months.

That article you linked to mentions this briefly... It says....

"Battery manufacturers recommend charging at a charge voltage of 13.5 -

If your "small" battery is matched to the charger (can't overheat the battery by trying to charge too fast) you should be goood to go.

Your regulator has nothing to do with the charger. You'll get 5V as long as the battery has 9 volts to supply (or 6 volts with a low drop out regulator)

Your regulator provides 5 volts to your electronics. Your battery is out ther doing its best to maintain 12+ volts. You don't need to worry about the charge - the battery charger takes care of that part.

you do have a battery charger?

We use things like "battery disconnect" circuits that disconnect the battery, lest it be discharged too low and destroyed . . .(applies to lead-acid batteries - but not capacitors and most NiMH, some NiCads, etc..)

Many batteries can be damaged by discharging them "too low"

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No. Lead Acid batteries need a constant voltage charger. Just leave the float charger connected. It will automatically supply the extra _current_ needed to compensate for the current drawn by your circuit. However the charger must be rated for that current. eg If you want to draw 7A from the battery continuously you need a charger that can supply at least say 8A. That's 7A to power your circuit and 1A to charge the battery. I have a cheap float charger that can supply about 3A no problem.