**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/models/dagbag.py
self.dags[dag.dag_id] = dag
            self.log.debug('Loaded DAG %s', dag)
        except AirflowDagCycleException as cycle_exception:
            
            self.log.exception('Exception bagging dag: %s', dag.dag_id)
            
            
            if dag == root_dag:
                for subdag in subdags:
                    if subdag.dag_id in self.dags:
                        del self.dags[subdag.dag_id]
            raise cycle_exception
    def collect_dags(
        self,
        dag_folder=None,
        only_if_updated=True,
        include_examples=conf.getboolean('core', 'LOAD_EXAMPLES'),
        include_smart_sensor=conf.getboolean('smart_sensor', 'USE_SMART_SENSOR'),
        safe_mode=conf.getboolean('core', 'DAG_DISCOVERY_SAFE_MODE'),
    ):
        """
        Given a file path or a folder, this method looks for python modules,
        imports them and adds them to the dagbag collection.
        Note that if a ``.airflowignore`` file is found while processing
        the directory, it will behave much like a ``.gitignore``,
        ignoring files that match any of the regex patterns specified
        in the file.
        **Note**: The patterns in .airflowignore are treated as
        un-anchored regexes, not shell-like glob patterns.
        """