A camera cleaning system is provided for a milking system, which milking system comprises a moving arrangement such as a rotating platform (19), a plurality of milking stalls (19a)arranged thereon for housing a plurality of animals (15) during milking thereof, a robot (10) for performing an animal related operation with respect to the animals in the milking stalls passing by the robot, and a camera (14) in response to signals from which the robot is configured to move. The camera cleaning system comprises usage identifying means (14 21 22 19, 19a 18) arranged to identify a future usage demand of the camera processing means (18) arranged to analyse the future usage demand of the camera to find at least onetime slot wherein the camera is not to be used and which occurs(i) when an empty milking stall, or a milking stall housing an animal which is not to be milked, or is not being milked, passes by the robot during movement of the moving arrangement, or (ii) when an unplanned stoppage of the milking system occurs and a cleaning arrangement(17) arranged to clean the lens arrangement of the camera during the time slot.
