Here's how inventor H. Cecil Booth came up with the idea. He noticed a device on trains that blew dust off chairs and thought it would be better to have a device that sucked the dust instead. To test his idea he laid a handkerchief on a chair, put his mouth on it and sucked as much dust as he could. Seeing the amount of dust and dirt on the underside of the hanky effectively made it the first vacuum cleaner filter and realized the idea could work. It's a good thing he wasn't looking to invent a machine that cleans manure.
Source: http://gilbertm.hubpages.com/hub/inventions20century
Source: http://gilbertm.hubpages.com/hub/inventions20century
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