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json_prolog did not support the expansion of name space definitions such as rdf:type, you had to use the full identifier such as 'http://www.w3.org/1999/02/22-rdf-syntax-ns#type'.

I've added that functionality in KnowRob trunk, so after an update, you should be able to send the queries listed above.

However, please verify first if the namespace expansion solves your problem, i.e. try to send the queries like this:

query = prolog.query(
               "owl_has(A, 'http://www.w3.org/1999/02/22-rdf-syntax-ns#type',
                           'http://ias.cs.tum.edu/kb/knowrob.owl#FoodOrDrink')")

P.S. Please also remember to finish() your queries.