**Apache Airflow version**: 2.0.0rc3

**Kubernetes version (if you are using kubernetes)** (use `kubectl version`):

**Environment**:

- **Cloud provider or hardware configuration**: Linux
- **OS** (e.g. from /etc/os-release): Ubuntu
- **Kernel** (e.g. `uname -a`): 
- **Install tools**:
- **Others**:

**What happened**:

After shutting down the scheduler, while tasks were in running state, trying to restart the scheduler results in pk violations..

```[2020-12-15 22:43:29,673] {scheduler_job.py:1293} ERROR - Exception when executing SchedulerJob._run_scheduler_loop
Traceback (most recent call last):
  File "/home/jcoder/git/airflow_2.0/pyenv/lib/python3.7/site-packages/sqlalchemy/engine/base.py", line 1277, in _execute_context
    cursor, statement, parameters, context
  File "/home/jcoder/git/airflow_2.0/pyenv/lib/python3.7/site-packages/sqlalchemy/engine/default.py", line 593, in do_execute
    cursor.execute(statement, parameters)
psycopg2.errors.UniqueViolation: duplicate key value violates unique constraint "dag_run_dag_id_run_id_key"
DETAIL:  Key (dag_id, run_id)=(example_task_group, scheduled__2020-12-14T04:31:00+00:00) already exists.
```


**What you expected to happen**:

Scheduler restarts and picks up where it left off.

**How to reproduce it**:

Set example dag ( I used task_group) to schedule_interval `* * * * *` and start the scheduler and let it run for a few minutes. 
Shut down the scheduler
Attempt to restart the scheduler

**Anything else we need to know**:
I came across this doing testing using the LocalExecutor in a virtual env. If no else is able to reproduce it, I'll try again in a clean virtual env.

tests/jobs/test_scheduler_job.py
empty_dir = mkdtemp()
        current_process = psutil.Process()
        old_children = current_process.children(recursive=True)
        scheduler = SchedulerJob(subdir=empty_dir, num_runs=1, executor=MockExecutor(do_update=False))
        scheduler.run()
        shutil.rmtree(empty_dir)
        
        current_children = set(current_process.children(recursive=True)) - set(old_children)
        assert not current_children
    @mock.patch('airflow.jobs.scheduler_job.TaskCallbackRequest')
    @mock.patch('airflow.jobs.scheduler_job.Stats.incr')
    def test_process_executor_events(self, mock_stats_incr, mock_task_callback):
        dag_id = "test_process_executor_events"
        dag_id2 = "test_process_executor_events_2"
        task_id_1 = 'dummy_task'
        dag = DAG(dag_id=dag_id, start_date=DEFAULT_DATE, full_filepath="/test_path1/")
        dag2 = DAG(dag_id=dag_id2, start_date=DEFAULT_DATE, full_filepath="/test_path1/")
        task1 = DummyOperator(dag=dag, task_id=task_id_1)
        DummyOperator(dag=dag2, task_id=task_id_1)
        dag.fileloc = "/test_path1/"
        dag2.fileloc = "/test_path1/"
        executor = MockExecutor(do_update=False)
        task_callback = mock.MagicMock()
        mock_task_callback.return_value = task_callback
        scheduler = SchedulerJob(executor=executor)
        scheduler.processor_agent = mock.MagicMock()
        session = settings.Session()
        dag.sync_to_db(session=session)