Disclosed is a camera cleaning system for a milking system. The 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) for performing an animal related operation with respect to the animals (15) in the milking stalls passing by the robot (10), and a camera (14) in response to signals from which the robot (10) is configured to move. The camera cleaning system has a cleaning arrangement (17), a rinsing arrangement (17a) and control means (18). The cleaning arrangement (17) is arranged to clean the lens arrangement of the camera (14) according to a first cleaning scheme. The rinsing arrangement (17a) is arranged to clean the lens arrangement of the camera (14) 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. The control means (18) is arranged to control the cleaning arrangement (17) and the rinsing arrangement (17a) such that the cleaning according to the first cleaning scheme is performed more rarely than the cleaning according to the second cleaning scheme.
