**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.

airflow/jobs/scheduler_job.py
self,
        subdir: str = settings.DAGS_FOLDER,
        num_runs: int = conf.getint('scheduler', 'num_runs'),
        num_times_parse_dags: int = -1,
        processor_poll_interval: float = conf.getfloat('scheduler', 'processor_poll_interval'),
        do_pickle: bool = False,
        log: Any = None,
        *args,
        **kwargs,
    ):
        self.subdir = subdir
        self.num_runs = num_runs
        
        
        
        self.num_times_parse_dags = num_times_parse_dags
        self._processor_poll_interval = processor_poll_interval
        self.do_pickle = do_pickle
        super().__init__(*args, **kwargs)
        if log:
            self._log = log
        
        sql_conn: str = conf.get('core', 'sql_alchemy_conn').lower()
        self.using_sqlite = sql_conn.startswith('sqlite')
        self.using_mysql = sql_conn.startswith('mysql')
        self.max_tis_per_query: int = conf.getint('scheduler', 'max_tis_per_query')
        self.processor_agent: Optional[DagFileProcessorAgent] = None
        self.dagbag = DagBag(dag_folder=self.subdir, read_dags_from_db=True)
    def register_signals(self) -> None: