The invention relates to the wire harness cladding equipment technology field, to be specific, relates to an automatic wire harness cladding control device and an automatic control method thereof. The automatic wire harness cladding control device comprises an image acquisition module, a processing module, and a control module. The image acquisition module is used for the image acquisition of the wire harness cladding working bench, and is used to transmit acquired images to the processing module. The processing module is used to generate wire harness end point coordinates and wire harness branch point coordinates correspondingly according to the images, and is used to store the wire harness end point coordinates and the wire harness branch point coordinates in a coordinate data table. According to a wire harness cladding route and the coordinate data table, a route planning table is planned, and according to the route planning table, a control instruction is transmitted to the control module. The control module is used to receive the control instruction transmitted by the processing module, and under the control of the control module, a motion component is used to execute a corresponding operation to complete the wire harness cladding. The automatic wire harness cladding control device has advantages of high automation degree, accurate control process, and abilities of fully replacing manpower to execute wire harness cladding, and improving wire harness efficiency effectively.