We heard the drums beating.

我们听到鼓声。

《牛津词典》

We heard the train coming.

我们听见火车来了。

《柯林斯英汉双解大词典》

We heard him drive away.

我们听到他驱车离去了。

《牛津词典》

Earlier this evening, we heard a number of bombs go sliding and slithering across, to fall several blocks away."

VOA: special.2010.01.31

All right. Let's step back from this discussion and notice how many objections have we heard to what they did?

我们先暂停讨论,回想下对他们行为，有多少反对意见？

耶鲁公开课 - 公正课程节选

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

We heard it from all different perspectives and were able to grapple with all of those.

WHITEHOUSE: President Obama Meets with Economic Recovery Advisory Board | The White House

Our understanding was that the board was to conduct an investigation, but we heard nothing.

WSJ: Best of the Web Today: See You in the Funny Papers

"We were just leaving to get something to eat, and we heard this noise, " Dudley said.

WSJ: Search for pilot of NY Angel Flight resumes