Usa sequenze e valore predefinito per id:
postgres=# CREATE SEQUENCE xxx;
CREATE SEQUENCE
postgres=# SELECT setval('xxx', 10000);
setval
--------
10000
(1 row)
postgres=# CREATE TABLE foo(id text PRIMARY KEY
CHECK (id ~ '^SO[0-9]+$' )
DEFAULT 'SO' || nextval('xxx'),
b integer);
CREATE TABLE
postgres=# insert into foo(b) values(10);
INSERT 0 1
postgres=# insert into foo(b) values(20);
INSERT 0 1
postgres=# SELECT * FROM foo;
id | b
---------+----
SO10001 | 10
SO10002 | 20
(2 rows)