We heard the sound of guns firing.

我们听见枪炮射击声。

《牛津词典》

We heard the bang of a cannon.

我们听到轰的一声炮响。

youdao

We heard the drums beating.

我们听到鼓声。

《牛津词典》

We heard the back door close. Then the girl screamed.

VOA: special.2009.01.17

So that went on--If we heard the whole thing, it actually goes on for 32 notes as opposed to just four so motive versus longer theme.

我们继续探讨,如果听完这部分,这个主题接下来还有三十二个音符,与区区四个音符的动机相对,动机与篇幅更长的主题相对

耶鲁公开课 - 聆听音乐课程节选

Jumping around, we heard the documentary and biography that is the ending.

换个话题，我们能听到纪录片的声音,也看到了一些传记的内容。

麻省理工公开课 - 电影哲学课程节选

We heard the same justifications for passing on it over and over again ad nauseam.

FORBES: Quarrel Fights The Good Fight and Finally Reaches the Xbox

"We heard the boom, boom, boom -- like a series of gunshots, " said Clark.

CNN: An improbable escape

We heard the fading, crackling radio broadcasts between set changes and this created a sense of atmosphere.

BBC: Review: Eastern Angles' Gills Around The Green