A camera cleaning system for a milking system is provided, which milking system comprises a moving arrangement (19), a plurality of milking stalls (19a) arranged thereon for housing a plurality of animals (15) during milking thereof. A robot (10) is arranged 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. A cleaning arrangement (17) is arranged to clean the lens arrangement of the camera according to a first cleaning scheme. A rinsing arrangement is arranged to clean the lens arrangement of the camera according to a second cleaning scheme. The cleaning according to the first cleaning scheme is more time consuming than the cleaning according to the second cleaning scheme. Control means (18) are arranged to control the cleaning arrangement and the rinsing arrangement such that the cleaning according to the first cleaning scheme is performed more rarely than the cleaning according to the second cleaning scheme.
