| STOCK WARRANTS AND STOCK OPTIONS (Tables)
 | 9 Months Ended | 12 Months Ended | 
| Sep. 30, 2021 | Dec. 31, 2020 | 
| STOCK WARRANTS AND STOCK OPTIONS |  |  | 
| Schedule of fair value of non-employee stock/warrants | 
|   |   | September 30,  2021 |   |   |   September 30, 2020   |   |  
| Exercise Price   |   | $ | 3.00-2.00 |   |   | $ | 0.50 |   |  
| Dividend Yield   |   |   | 0 | % |   |   | 0 | % |  
| Volatility   |   |  | 158-120 | %  |   |   | 153 | % |  
| Risk-free Interest Rate   |   |  | 0.14%-0.98 | %  |   |   | 0.29 | % |  
| Life of Warrants |   |  | 2-5 Years |   |   |  |   5 Years |   |  | 
|   |   | Dec. 31, 2020 |   |   | Dec. 31, 2019 |   |  
| Exercise Price   |   | $ | 0.50-$2.00 |   |   | $ | 0.1330-$1.0394 |   |  
| Dividend Yield   |   |   | 0 | % |   |   | 0 | % |  
| Volatility   |   |   |    153%-154% |   |   |   |       134% - 167% |   |  
| Risk-free Interest Rate   |   |   |  0.19%- 0.29% |   |   |   |    1.69% –2.40% |   |  
| Life of Warrants |   |   | 5 Years |   |   |   |       .038-5 Years |   |  | 
| Schedule of outstanding warrants | 
|   |   | Warrants Outstanding Number of Shares |   |   | Exercise Price Per Share |   |   | Weighted Average Remaining Contractual Life |   | Weighted Average Exercise Price Per Share |   |   | Aggregate Intrinsic Value |   |  
| Balance at December 31, 2019 |   |   | 598,414 |   |   | $ | 0.13304–1.039375 |   |   | 3.97 Years |   | $ | 0.3607 |   |   | $ | 1,276,870 |   |  
| Warrants Granted |   |   | 320,000 |   |   | $ | 0.50 |   |   | 4.68Years |   | $ | 0.50 |   |   | $ | 761,000 |   |  
| Warrants Exercised |   |   | (454,097 | ) |   | $ | 0.13304 - 0.15299 |   |   |   |   | $ | 0.1451 |   |   |   |   |   |  
| Warrants Expired  |   |   | - |   |   |   |   |   |   |   |   |   |   |   |   |   |   |   |  
| Balance at September 30, 2020 |   |   | 464,317 |   |   | $ | 0.50- 1.039375 |   |   | 3.91 Years |   | $ | 0.66765 |   |   | $ | 1,027,234 |   |    
|   |   | Warrants Outstanding Number of Shares |   |   | Exercise Price Per Share |   |   | Weighted Average Remaining Contractual Life |   | Weighted Average Exercise Price Per Share |   |   | Aggregate Intrinsic Value |   |  
| Balance at December 31, 2020 |   |   | 584,317 |   |   | $ | 0.50 – 2.00 |   |   | 3.80 Years |   | $ | 0.9413 |   |   | $ | 1,173,737 |   |  
| Warrants Granted |   |   | 2,222,012 |   |   | $ | 3.00-2.00 |   |   | 3.40 Years |   | $ | 2.45 |   |   | $ | 108,506 |   |  
| Warrants Exercised |   |   | (176,938 | ) |   | $ | 0.50 |   |   |   |   | $ | 0.50 |   |   |   |   |   |  
| Warrants Expired  |   |   | - |   |   |   |   |   |   |   |   |   |   |   |   |   |   |   |  
| Balance at September 30, 2021 |   |   | 2,629,391 |   |   | $ | 0.50 – 3.00 |   |   | 3.30 Years |   | $ | 2.25 |   |   | $ | 665,424 |   |  | 
|   |   | Warrants Outstanding Number of Shares |   |   | Exercise  Price Per Share |   |   | Weighted Average Remaining Contractual Life |   | Weighted Average Exercise Price Per Share |   |   | Aggregate  Intrinsic Value |   |  
| Balance at December 31, 2018 |   |   | 721,678 |   |   | $ | 0.1397 - 0.6319 |   |   | 3.45 Years |   | $ | 0.1929 |   |   | $ | - |   |  
| Warrants Granted |   |   | 916,579 |   |   | $ | 0.06- 0.2062 |   |   | 3.97 Years |   | $ | 0.2860 |   |   | $ | 2,022,912 |   |  
| Warrants Exercised |   |   | (1,038,339 | ) |   | $ | 0.1430- 0.1497 |   |   |   |   | $ | 0.1463 |   |   |   |   |   |  
| Warrants Expired |   |   | (1,504 | ) |   | $ | 0.6319 |   |   |   |   | $ | 0.6319 |   |   |   |   |   |  
| Balance at December 31, 2019 |   |   | 598,414 |   |   | $ | .13304 - 1.039375 |   |   | 3.97 Years |   | $ | 0.3592 |   |   | $ | 1,276,870 |   |  
|   |   | Warrants Outstanding Number of Shares |   |   | Exercise  Price Per Share |   |   | Weighted Average Remaining Contractual Life |   | Weighted Average Exercise Price Per Share |   |   | Aggregate Intrinsic Value |   |  
| Balance at December 31, 2019 |   |   | 598,414 |   |   | $ |         0.13304 – 1.039375 |   |   | 3.97 Years |   | $ | 0.3592 |   |   | $ | 1,276,870 |   |  
| Warrants Granted |   |   | 440,000 |   |   | $ | 0.50-2.00 |   |   | 4.41 Years |   | $ | 0.9091 |   |   | $ | 898,000 |   |  
| Warrants Exercised |   |   | (454,097 | ) |   | $ | 0.13304- 0.15299 |   |   |   |   | $ | 0.1451 |   |   |   |   |   |  
| Warrants Expired    |   |   | - |   |   |   |   |   |   |   |   |   |   |   |   |   |   |   |  
| Balance at December 31, 2020 |   |   | 584,317 |   |   | $ |       0.50– 2.00 |   |   | 3.80 Years |   | $ | 0.9413 |   |   | $ | 1,173,737 |   |  | 
| Schedule of fair value of stock options | 
|   |   | September 30,  2021 |   |   | September 30,  2020 |   |  
| Exercise Price |   | $ | 2.50 - $3.58 |   |   | $ | 0.26-$3.30 |   |  
| Dividend Yield |   |   | 0 | % |   |   | 0 | % |  
| Expected Volatility |   |  | 44% - 185 | %  |   |  | 153%-171 | %  |  
| Risk-free Interest Rate |   |  | 0.16% - 1.69 | %  |   |  | 0.19%-0.43 | %  |  
| Expected Life |   |  | 1.3 - 7 years |   |   |  | 2.2-5 years |   |  | 
|   |   | December 31,  2020 |   |   | December 31,  2019 |   |  
| Exercise Price  |   | $ | 1.645-3.30 |   |   | $ | 0.026-1.039 |   |  
| Dividend Yield  |   |   | 0 | % |   |   | 0 | % |  
| Expected Volatility  |   |  | 162%-181 | %   |   |  | 133%-146 | %  |  
| Risk-free Interest Rate  |   |  | 0.19%-0.43 | %   |   |  | 1.61%-1.70 | %  |  
| Expected Life  |   |  | 1- 2.7 years |   |   |  | 2.0-7.17years |   |  | 
| Schedule of outstanding options | 
|   |   | Options Outstanding Number of  Shares |   |   | Exercise Price Per Share  |   |   | Weighted Average Remaining Contractual Life |   | Weighted Average Exercise Price Per Share |   |   | Aggregate  Intrinsic Value  |   |  
| Balance at December 31, 2019 |   |   | 2,381,239 |   |   | $ | 0.2634-1.039 |   |   | 8.86 Years |   | $ | 0.2948 |   |   | $ | 5,238,080 |   |  
| Options Granted |   |   | 160,000 |   |   | $ | 0.26341-3.30 |   |   | 4.10 Years |   | $ | 1.9454 |   |   | $ | 149,532 |   |  
| Options Exercised |   |   | - |   |   |  |   |   |   |   |   |   |   |   |   |   |   |   |  
| Options Cancelled |   |   | - |   |   |  |  |   |   |   |   |   |   |   |   |   |   |   |  
| Options Expired |   |   | - |   |   |   |   |   |   |   |   |   |   |   |   |   |   |   |  
| Balance at September 30, 2020 |   |   | 2,541,239 |   |   | $ | 0.2634 – 3.30 |   |   | 7.86 Years  |   | $ | 0.3987 |   |   | $ | 6,305,579 |   |    
|   |   | Options Outstanding Number of  Shares |   |   | Exercise Price Per Share  |   |   | Weighted Average Remaining Contractual Life |   | Weighted Average Exercise Price Per Share |   |   | Aggregate Intrinsic Value  |   |  
| Balance at December 31, 2020 |   |   | 2,572,227 |   |   | $ | 0.2634–3.300 |   |   | 7.45 Years |   | $ | 0.4999 |   |   | $ | 6,302,277 |   |  
| Options Granted |   |   | 610,526 |   |   | $ | 2.50–3.575 |   |   | 2.58 Years |   | $ | 3.1783 |   |   | $ | (414,147 | ) |  
| Options Exercised |   |   | - |   |   |  |   |   |   |   |   |   |   |   |   |   |   |   |  
| Options Cancelled |   |   | (210,587 | ) |   | $ | 0.2634-3.29 |   |   |   |   | $ | 2.969 |   |   |   |   |   |  
| Options Expired |   |   | - |   |   |   |  |   |   |   |   |   |   |   |   |   |   |   |  
| Balance at September 30, 2021 |   |   | 2,972,166 |   |   | $ | 0.2634–3.575 |   |   | 6.15 Years |   | $ | 0.8751 |   |   | $ | 4,829,417 |   |    
| Exercisable at December 31, 2020  |   |   | 1,253,030 |   |   | $  | 0.2634 – 3.300 |   |   | 7.4 Years |   | $ | 0.3165 |   |   | $ | 3,299,765 |   |  
| Exercisable at September 30, 2021  |   |   | 1,943,652 |   |   | $ | 0.2634 – 3.575 |   |   | 6.3 Years |   | $ | 0.6527 |   |   | $ | 3,590,430 |   |  | 
|   |   | Options Outstanding Number of  Shares |   |   | Exercise Price Per  Share  |   |   | Weighted Average Remaining Contractual Life |   | Weighted Average Exercise Price Per Share |   |   | Aggregate Intrinsic Value  |   |  
| Balance at December 31, 2018 |   |   | 53,368 |   |   | $ |          0.1497 – 8.31 |   |   |        2.32 Years |   | $ | 0.2761 |   |   | $ | - |   |  
| Options Granted |   |   | 2,381,239 |   |   | $ | 0.26341-1.0393 |   |   |         9.00 Years  |   | $ | 0.2960 |   |   | $ | 5,238,080 |   |  
| Options Exercised |   |   | - |   |   |   | - |   |   |   |   |   |   |   |   |   |   |   |  
| Options Cancelled |   |   | (45,100 | ) |   | $ | 0.1497 |   |   |   |   | $ | 0.1497 |   |   |   |   |   |  
| Options Expired |   |   | (8,268 | ) |   | $ | 0.2328-8.31  |   |   |         9.00 Years  |   | $ | 0.9678 |   |   |   |   |   |  
| Balance at December 31, 2019 |   |   | 2,381,239 |   |   | $ | 0.2634 – 1.039 |   |   |         9.00 Years  |   | $ | 0.2761 |   |   | $ | 5,238,080 |   |  
|   |   | Options Outstanding Number of  Shares |   |   |   Exercise  Price Per  Share  |   |   | Weighted Average Remaining Contractual Life |   | Weighted Average Exercise Price Per Share |   |   | Aggregate Intrinsic Value  |   |  
| Balance at December 31, 2019 |   |   | 2,381,239 |   |   | $ | 0.2634-1.039 |   |   | 9.00 Years |   | $ | 0.2761 |   |   | $ | 5,238,080 |   |  
| Options Granted |   |   | 236,894 |   |   | $ | 0.2635–3.300 |   |   | 1.84 Years  |   | $ | 2.6661 |   |   | $ | 67,265 |   |  
| Options Exercised |   |   | (45,906 | ) |   | $ | 1.039 |   |   |   |   |   |   |   |   |   |   |   |  
| Options Cancelled |   |   | - |   |   |   | - |   |   |   |   |   |   |   |   |   |   |   |  
| Options Expired |   |   | - |   |   |   | - |   |   |   |   |   |   |   |   |   |   |   |  
| Balance at December 31, 2020 |   |   | 2,572,227 |   |   | $ | 0.26342–3.300 |   |   | 7.45 Years |   | $ | 0.4999 |   |   | $ | 6,302,277 |   |  
|   |   |   |   |   |   |   |   |   |   |   |   |   |   |   |   |   |   |   |  
| Exercisable at December 31, 2019  |   |   | 539,847 |   |   | $ | 0.2634–1.03938 |   |   | 8.2 Years |   | $ | 0.4 |   |   | $ | 1,129,786 |   |  
| Exercisable at December 31, 2020  |   |   | 1,252,474 |   |   | $ | 0.26342–3.300 |   |   | 7.4 Years |   | $ | 0.3165 |   |   | $ | 3,299,006 |   |  |