Season 1 BBC One Season 1972 BBC One , 1972 Season 1976 BBC One , 1976 Season 1978 BBC One , 1978 Season 1994 BBC One , 1994 Season 1996 BBC One , 1996 Season 2006 BBC One , 2006 Season 2007 BBC One , 2007 Season 2009 BBC One , 2009 Season 2010 BBC One , 2010 Season 2011 BBC One , 2011 Season 2012 BBC One , 2012 Season 2013 BBC One , 2013 Season 2014 BBC One , 2014 Season 2015 BBC One , 2015 Season 2016 BBC One , 2016 Season 2017 BBC One , 2017 Season 2018 BBC One , 2018 Season 2019 BBC One , 2019 Season 2021 BBC One , 2021 Season 2022 BBC Four , 2022 Season 2023 BBC One , 2023