It’s been a week of innovation on Farming Today, as we look ahead to see what the future holds for agriculture. The problem farmers face growing food - including a shortage of labour and climate change - can stimulate innovation - from vertical farming to growing grass for human consumption. And there is a helping hand for the harvest – not from people but from robots - out in the field picking asparagus. Robots also get digging to remove weeds, and farmer and TV presenter Adam Henson relates a meeting with HRH The Queen, and talks about her knowledge of farming. Presented by Anna Hill and produced for BBC Audio by Alun Beach