As far as I know there is no sensor (in the S5) to check how full the dustbin in the vacuumcleaner is. The Official App also does not notify the user when it’s time too clear the bin.
You could create a rule that checks the amount of cleaned m² to regularly notify you when it might be time to clear.
I use this nice little automation by rsemmens: What did you build/automated today (with pictures)? - #111 by rsemmens