Sound is made by vibrations and travels as a longitudinal wave of compressions and rarefactions. The particles vibrate along the direction of travel. Sound needs a medium, so it cannot travel through a vacuum.
Amplitude sets the loudness; frequency sets the pitch.
Speed in air is roughly 330 to 340 m/s. Sound travels faster in liquids and fastest in solids.
Closer, more tightly bound particles pass the vibration on faster. In a vacuum there are no particles, so no sound is heard.
A healthy human hears from about 20 Hz to 20 000 Hz (20 kHz).
An echo is sound reflected from a hard surface. Timing an echo measures the speed of sound.
Ultrasound is sound above 20 000 Hz, beyond human hearing. It is sent as pulses and the echoes are timed.
A ship times an ultrasound echo from the seabed. The pulse travels the depth twice.