I had the same issue, and it had to do with the columnmapping being case sensitive. For instance I was using :
SqlBulkCopyColumnMapping
sqlMap = new SqlBulkCopyColumnMapping("ivl_desc","item_desc") which gave me the error above. I then switched to:
SqlBulkCopyColumnMapping sqlMap = new SqlBulkCopyColumnMapping(dataSet1.Invoice_Line.Columns["ivl_desc"].ColumnName, dataSet1.Invoice_Line_History.Columns["item_desc"].ColumnName);
After that, the bulk insert worked great.