Since you mentioned that using a KOMA document class is not necessary for an acceptable answer, I simply used book
class. I think you want something like the following:
\documentclass{book}
% For referencing current chapter, section etc.
\usepackage{nameref}
\makeatletter
\newcommand*{\currentname}{\@currentlabelname}
\makeatother
\renewcommand{\numberline}[1]{#1~}
% Using egreg's answer
\usepackage{etoolbox}
% Patch the sectioning commands to provide a hook to be used later
\preto{\chapter}{\def\leveltitle{\chaptertitle}}
\preto{\section}{\def\leveltitle{\sectiontitle}}
\preto{\subsection}{\def\leveltitle{\subsectiontitle}}
\preto{\subsubsection}{\def\leveltitle{\subsubsectiontitle}}
\makeatletter
% \@sect is called with normal sectioning commands
% Argument #8 to \@sect is the title
% Thus \section{Title} will do \gdef\sectiontitle{Title}
\pretocmd{\@sect}
{\expandafter\gdef\leveltitle{#8}}
{}{}
% \@ssect is called with *-sectioning commands
% Argument #5 to \@ssect is the title
\pretocmd{\@ssect}
{\expandafter\gdef\leveltitle{#5}}
{}{}
% \@chapter is called by \chapter (without *)
% Argument #2 to \@chapter is the title
\pretocmd{\@chapter}
{\expandafter\gdef\leveltitle{#2}}
{}{}
% \@schapter is called with \chapter*
% Argument #1 to \@schapter is the title
\pretocmd{\@schapter}
{\expandafter\gdef\leveltitle{#1}}
{}{}
\makeatother
\makeatletter
\patchcmd{\@makechapterhead}{\@chapapp\space \thechapter}{Kingdom:}{}{}
\makeatother
\begin{document}
\tableofcontents
\renewcommand{\thechapter}{Kingdom}
\renewcommand{\thesection}{\chaptertitle.Phylum}
\renewcommand{\thesubsection}{\chaptertitle.\sectiontitle.Class}
\chapter{Animalia}
This is chapter \emph{\thechapter\ \currentname}
\section{Arthropoda}
This is section \emph{\thesection\ \currentname}
\subsection{Insecta}
This is subsection \emph{\thesubsection\ \currentname}
\renewcommand{\thechapter}{Kingdom}
\renewcommand{\thesection}{\chaptertitle.Order}
\renewcommand{\thesubsection}{\chaptertitle.\sectiontitle.Family}
\chapter{Plantae}
This is chapter \emph{\thechapter\ \currentname}
\section{Rosales}
This is section \emph{\thesection\ \currentname}
\subsection{Rosacea}
This is subsection \emph{\thesubsection\ \currentname}
\end{document}

And you mentioned that text-enumerated TOC is optional. Just in case you want it. I had to use \renewcommand{\numberline}[1]{#1~}
for natural indention and spacing between the numbering and the title for the TOC, without which the title overlaps with the numbering since the numbering is already too wide.

Much of the modification has to do with how they are to be enumerated. So what I did is use egreg's answer from How to get the current chapter* name, section* name, subsection* name, etc? for passing the current chapter, section etc. for the commands concerned with their enumeration.