That one seems to be living in Branston in 1861 (also born there) - it should be the one from the wedding, as there was a SMITH child in the house.
Do you have
your Robert on any census after 1841?
EDIT: Oh, I see he had a ship in 1871.
There is a marriage of a Robert WOODCOCK in Q1 1853, indexed as Sculcoates 6d 215 - now Sculcoates was actually 9d (Not 6d). 9d 215 has a Mary Jane BAKER (and no one else).
EDIT again: Yessss!
1861
1 Spring Row, Sculcoates, Hull
Robert WOODCOCK 28 Mariner, City of Lincoln
Mary Jane 29 Laundress, Hull
John Robert 3 Hull
Charlotte 2 Hull
Jane BAKER (relative,wid) 60 Lincs Brigg
The kids' name look quite helpful too!

I think Mary Jane died in 1876 then Robert married Mary Ann THOMPSON in 1877. Look for Mary Ann WOODCOCK aged 45 in Yorks in 1881.