My first thought in response to your question was OCR scanning. My experience with it is no longer pertinent, I’m afraid. However, I did discover that now there are Apps for smart phones and tablets that will do it for you. You would use your device to ‘scan’ the document and the App converts it into text. I would caution you to read each description carefully to find the one that would do what you want. There are many and t don’t all provide what you ask. convert handwritten notes to text ...
I hope this helps and if you have any other method, or tip regarding using Google Docs to open PDF files then please feel free to share it with us in the comment section below.