Actually the vacuum does not "suck" anything - it's the higher atmospheric pressure that pushes the object and this is already what you need to make an estimation.

The force to push the object must be higher than the force of friction between the object and the surface on which it lies. As pressure is force per area, you should already be able to do the calculation.

Don't calculate - do the experiment! Size and shape of nozzle, air flow at the nozzle, distance to object, shape and weight of object... plenty of variables to control here. And your hardware store can provide a vacuum cleaner at very modest cost. But I'd be amazed if there wasn't an extensive literature on this already.

@Mike - I think in this case the calculation is faster done than the experiment, actually :)

also, how measure the pressure drop of the vacuum cleaner (and you will have to controll the motor power of the cleaner, as M. Manickam is interested in the minimum pressure drop. This is quite some work compared to a half-of-a-line calculation ;)

Mike is correct when he draws attention to many influential factors.  No vacuum cleaner  will catch a given object if it is too far from vacuum's nozzle, no matter what underpressure it generates.

Manickam - Result is within your reach. A body of mass m requires lifting to height h and dropping into the dustbin. Vacuum Cleaner develops a fluid flow to give m sympathetic velocity v equal to over come the height h, and minor friction on the boundary of the tube of fluid flow. The tube of flow has an entry orifice, variable by choice, a tube to guide the flow, and a large exit  - fixed - into the dustbin. Bernoulli theorem is of help. Applications! Have potential to make a rich man - apply, develop further - it is worth it. Use hints by others on RG - Good luck