In this paper, we propose an intelligent contactless delivery scheme for unmanned vehicles based on multi-source sensing signals. Our objective is to address the problem of delivering items in special scenarios that require contactless delivery, such as hospital isolation areas and isolated hotels. Specifically, we apply the simultaneous localization and map construction (SLAM) algorithm to solve the localization and map construction problem when the unmanned vehicle moves in an unknown environment. Additionally, we improve the open-source Cartographer algorithm and use sensors such as LiDAR and depth camera to achieve localization, multi-terrain map construction, automatic navigation, and obstacle avoidance. We experimentally test the map construction, navigation, and obstacle avoidance capabilities of the smart cart in specific scenarios. Our results demonstrate that our proposed smart delivery solution works effectively in urban indoor and outdoor scenarios and can be applied to practical contactless delivery scenarios. This new non-contact delivery mode is expected to be a driving force for future development.