Helicopters and drones are widely used in military and post-disaster reconnaissance. But less attention has been paid to collaborative reconnaissance between the two, especially when drones can be launched and retrieved multiple times. We propose a synchronous routing problem of helicopter and heterogeneous multi-drone for reconnaissance, which is a new variant of the orienteering problem (OP), where the drones can visit multiple mission nodes and can reconnoiter the retrieval nodes in a single trip, with the goal of maximizing the information collected. The problem is formulated as a mixed integer linear programming (MILP) model, and then an adaptive simulated annealing algorithm (A-SA) is designed to solve the problem. Specifically, a universal high-efficiency heuristics solution evaluation method based on segment sorting is proposed. The time complexity of this method is O(n). The numerical experiments illustrate the accuracy and efficiency of the algorithm. The results also show that allowing the drones to conduct reconnaissance on the retrieval nodes can positively impact the solution.