Scanner Vault app comes with a feature that will allow you to upload your PDFs to Google Drive. To do this:
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On the Documents page, click on the document you wish to upload.
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On the document preview screen, you'll see an orange bottom toolbar. Tap on "Export".
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Then, tap on "Google Drive".
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A screen with your Google email addresses should pop up. Tap on the email address associated to the Google Drive account you wish to use.
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Grant Scanner App permission to create folders on your Google Drive account.
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On the "Confirm your choices" screen, ensure all checkboxes are ticked. Tap on "Allow".
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Your document should be uploaded into a "Scanner Vault" folder on your Google Drive account.
