This paper discusses a integrated perceptual system for intelligent control of a service robot. The robot should be able to perceive the environment flexibly to realize intelligent behaviors. We focus on the perceptual system based on the perceiving-acting cycle discussed in ecological psychology. We propose a perceptual system composed of the retinal model and the spiking-neural network to realize concept of the perceiving-acting cycle. The proposed method is applied to the robot arm equipped with a 3D-range camera. This proposed method features the robot detects the invariant information of a dish, for example the contrast of a distance Information or a luminance information. As experimental results, We show that the integrated perceptual system can adapt effectively in the dynamic environment.