You are unlocking your phone somehow. If you use Face ID to unlock the phone, it’s very easy to do. I tried it several times on my iPhone XR. As long as the phone is still locked, I can pull down from the upper right corner of the screen to get to the control center. I can tap the camera icon and take a photo. If I tap on the photo to look at it and then tap All Photos in the upper right corner, I must use Face ID to unlock the phone to allow me to see the photos.
I think that you are inadvertently unlocking the phone. It is very easy to unlock the phone with Face ID. Try locking the phone, then tilt it forward, pull down on the control center, take a photo without lifting the phone. Take a photo of the floor if you need to. Tap on the photo and then tap on All Photos.