A process and device are disclosed for cleaning the surface of airplanes (44). A large manipulator arranged on a truck (10) is moved towards the airplane (44) up to a predetermined position within its range of action and is parked in that position. A rotary brush bearing head (18) is moved over the surface of the object by means of an articulated mast (13) arranged on the truck (10) and constituted of several extension arms (12, 12', 12'', 12''', 14) that may swivel or move with respect to each other at turning knuckles and/or prismatic joints and of a multiple joint (16) arranged at the last extension arm (14). In order to carry out a washing process in a reliable manner, without risk of collisions even when the large manipulator is not accurately positioned in front of the airplane (44), the large manipulator is parked within a limited two-dimensional parking field (46) spaced apart from the airplane (44), while the joints (20 to 28) of the articulated mast (13) and/or the multiple joint (16) are controlled
