Knowledge graph is useful for many different domains like search result ranking, recommendation, exploratory search, etc. It integrates structural information of concepts across multiple information sources, and links these concepts together. The extraction of domain specific relation triples (subject, verb phrase, object) is one of the important techniques for domain specific knowledge graph construction. In this research, an automatic method named HDSKG is proposed to discover domain specific concepts and their relation triples from the content of webpages. We incorporate the dependency parser with rule-based method to chunk the relations triple candidates, then we extract advanced features of these candidate relation triples to estimate the domain relevance by a machine learning algorithm. For the evaluation of our method, we apply HDSKG to Stack Overflow (a Q&A website about computer programming). As a result, we construct a knowledge graph of software engineering domain with 35279 relation triples, 44800 concepts, and 9660 unique verb phrases. The experimental results show that both the precision and recall of HDSKG (0.78 and 0.7 respectively) is much higher than the openIE (0.11 and 0.6 respectively). The performance is particularly efficient in the case of complex sentences. Further more, with the self-training technique we used in the classifier, HDSKG can be applied to other domain easily with less training data.