Cyber-physical system (CPS) plays an increasingly important role in social life. The on-demand choreography of CPS resources is based on the software defining of CPS resources. The definition of software interfaces depends on the full description for the capabilities of CPS resources. At present, in the CPS field, there is a lack of a knowledge base that can describe resources and their capabilities, and a lack of an effective way to construct the knowledge base. For the text description of CPS resources, this study proposes to construct the CPS resource capability knowledge graph and designs a bottom-up automatic construction method. Given CPS resources, this method first extracts textual descriptions of the resources’ capabilities from code and texts, and generates a normalized expression of capability phrases based on a predefined representation pattern. Then, capability phrases are divided, aggregated and abstracted based on the key components of the verb-object structure to generate the hierarchical abstract description of capabilities for different categories of resources. Finally, the CPS knowledge graph is constructed. Based on the Home Assistant platform, this study constructs a knowledge graph containing 32 resource categories and 957 resource capabilities. In the construction experiment, the results of manual construction and automatic construction using the proposed method are compared and analyzed from different dimensions. Experimental results show that this study provides a feasible method for automatic construction of CPS Resource Capability Knowledge Graph. This method helps to reduce the workload of artificial construction, supplement the description of resource services and capabilities in the CPS field and improves the knowledge completeness.