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Recently, one of the main emerging issues in the robotics area is the robotics middleware. We are developing robotics middleware for intelligent mobile robots. In this paper, we provide our architecture model and component interfaces. Our software architecture is concentrated on the intelligent services. Among many research issues in the robotics middleware, component model is an important factor. Component-based software engineering is able to guarantee not only reusability, maintainability, fault isolation, and so on, but also non-functional properties. With component-based software engineering, robotics middleware provides intelligent service model.