Cloud robotics is a field of robotics that attempts to use Cloud technologies for robotics. The use of the Cloud for robotics and automation brings some potential benefits largely ameliorating the performance of robotic systems. However, there are also some challenges. First of all, from the viewpoint of architecture, how to model and describe the architectures of Cloud robotic systems? How to deploy the architecture in Cloud? Our proposed approach in this paper is based on the principles of software architectures. In particular, we leverage our lightweight architectural solution to solve the architecture problem of Cloud robotics and discuss different solutions to deploy Cloud robotics system in Cloud.