An autonomous cleaning robot comprising: - a main body, - a cleaning head including a lower face which is configured to be oriented towards a surface to be cleaned, and a suction opening emerging into the lower face of the cleaning head, the cleaning head being movably mounted relative to the main body between a deployed position in which the cleaning head is moved away from the main body, and a retracted position in which the cleaning head is brought closer to the main body, - a suction tube which mechanically connects the cleaning head to the main body, the suction tube including a distal end portion (11.1) which is fastened to the cleaning head and which is fluidly connected to the suction opening, the suction tube being configured to occupy a first tube configuration in which the distal end portion (11.1) of the suction tube extends beyond the main body by a first deployment distance, and a second tube configuration in which the distal end portion (11.1) of the suction tube extends beyond the main body by a second deployment distance greater than the first deployment distance, - a waste collecting device, - a suction unit which is fastened to the main body and which is configured to generate an air flow through the suction opening, the suction tube and the waste collecting device, and - a drive mechanism configured to move the cleaning head between the deployed position and the retracted position, characterized in that the cleaning head is configured to be in contact with the surface to be cleaned when the cleaning head is in the deployed position, and is configured to be located at a distance from the surface to be cleaned when the cleaning head is in the retracted position, and in that the autonomous cleaning robot is configured such that a change in configuration of the suction tube from the second tube configuration to the first tube configuration causes a displacement of the cleaning head from the deployed position to the retracted position according to a retraction stroke comprising a first retraction stroke portion during which the cleaning head is moved in translation by the suction tube and relative to the main body in a translation direction which is substantially horizontal, and a second retraction stroke portion during which the cleaning head is moved by the suction tube and relative to the main body in a displacement movement which includes at least one vertical component so as to cause a lifting of the cleaning head. - a main body, - a cleaning head including a lower face which is configured to be oriented towards a surface to be cleaned, and a suction opening emerging into the lower face of the cleaning head, the cleaning head being movably mounted relative to the main body between a deployed position in which the cleaning head is moved away from the main body, and a retracted position in which the cleaning head is brought closer to the main body, - a suction tube which mechanically connects the cleaning head to the main body, the suction tube including a distal end portion (11.1) which is fastened to the cleaning head and which is fluidly connected to the suction opening, the suction tube being configured to occupy a first tube configuration in which the distal end portion (11.1) of the suction tube extends beyond the main body by a first deployment distance, and a second tube configuration in which the distal end portion (11.1) of the suction tube extends beyond the main body by a second deployment distance greater than the first deployment distance, - a waste collecting device, - a suction unit which is fastened to the main body and which is configured to generate an air flow through the suction opening, the suction tube and the waste collecting device, and - a drive mechanism configured to move the cleaning head between the deployed position and the retracted position,