They're ANSI control codes. Their purpose is to control the formatting of the text and the color and what not. To decode them properly you'd need a terminal emulator. phpseclib has one called File_ANSI:
http://phpseclib.sourceforge.net/ssh/examples.html#top
Here's your code rewritten to use it:
$ssh = new Net_SSH2($strServerIPAddress);
$ansi = new File_ANSI();
if(!$ssh->login($strServerUsername, $strServerPassword))
die("error");
$ssh->write(" service httpd reload\n");
$ansi->appendString($ssh->read("[root@$strServerName ~]#"));
echo $ansi->getScreen();
$ssh->disconnect();