**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.processor_agent.wait_until_finished()
                with create_session() as session:
                    num_queued_tis = self._do_scheduling(session)
                    self.executor.heartbeat()
                    session.expunge_all()
                    num_finished_events = self._process_executor_events(session=session)
                self.processor_agent.heartbeat()
                
                self.heartbeat(only_if_necessary=True)
                
                next_event = timers.run(blocking=False)
                self.log.debug("Next timed event is in %f", next_event)
            self.log.debug("Ran scheduling loop in %.2f seconds", timer.duration)
            if not is_unit_test and not num_queued_tis and not num_finished_events:
                
                
                
                time.sleep(min(self._processor_poll_interval, next_event))
            if loop_count >= self.num_runs > 0:
                self.log.info(
                    "Exiting scheduler loop as requested number of runs (%d - got to %d) has been reached",
                    self.num_runs,
                    loop_count,
                )
                break
            if self.processor_agent.done:
                self.log.info(
                    "Exiting scheduler loop as requested DAG parse count (%d) has been reached after %d"
                    " scheduler loops",
                    self.num_times_parse_dags,