**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
dags_folder = mkdtemp()
        try:
            unparseable_filename = os.path.join(dags_folder, TEMP_DAG_FILENAME)
            with open(unparseable_filename, "w") as unparseable_file:
                unparseable_file.writelines(INVALID_DAG_WITH_DEPTH_FILE_CONTENTS)
            self.run_single_scheduler_loop_with_no_dags(dags_folder)
        finally:
            shutil.rmtree(dags_folder)
        with create_session() as session:
            import_errors = session.query(errors.ImportError).all()
        assert len(import_errors) == 1
        import_error = import_errors[0]
        assert import_error.filename == unparseable_filename
        expected_stacktrace = (
            "Traceback (most recent call last):\n"
            '  File "{}", line 2, in something\n'
            "    return airflow_DAG\n"
            "NameError: name 'airflow_DAG' is not defined\n"
        )
        assert import_error.stacktrace == expected_stacktrace.format(unparseable_filename)
    def test_import_error_tracebacks_zip(self):