With the rise of contactless delivery services， to address the problem of low accuracy and potential misidentification when recognizing room numbers for deliveries， a contactless item delivery vehicle based on AprilTag2 has been designed.The GD32F103RCT6 microcontroller is used as the main control module. The AprilTag tag identification and positioning algorithm is used to realize the room ID identification and location information detection function. And vehicle tracing function is realized by tracing PID algorithm. In addition，the pressure sensor is used to detect whether the goods are loaded or unloaded，and the Bluetooth module realizes mutual communication between vehicles to avoid vehicle collision. After test，the accuracy of room number tag and position recognition is 99.5 %. It can automatically track and quickly deliver items to the designated room no matter its single or double vehicles. And the user will be prompted by voice before loading or unloading， which is convenient for the user to load/unload the goods. After unloading，the vehicle will automatically trace to the starting position for the next delivery. The overall system is safe and reliable，with high accuracy of room number identification and low price，which can better realize the non-contact delivery of goods.