You need a ramp that hits level ground.
Then you need a large bin of rock and dirt that is higher than the ramp (maybe much higher). The rock and dirt will slide down the ramp until the hole is full. This may take some testing.
So as the sinkhole opens you will be giving rock and dirt to it. And once it has enough it should wait on the ramp for the next opening.
An optional suggestion would be a raking system at the top that would be triggered when items come off of the ramp. This would evenly distribute the sediment across the hole.
And an optional optional suggestion would be a sprinkler system that would trigger for a certain amount of time after the raking. This would add weight to your sinkhole so that it compacts in the hole. This may trigger more dirt and rock to be used but I take sinkhole filling seriously.