The integration of distributed power generation mainly consisting of photovoltaic and wind power into active distribution networks can lead to safety accidents in grid operation. At the same time, climate change can also cause voltage fluctuations, direct current injection, harmonic pollution, frequency fluctuations, and other issues. To achieve economic and safe operation of the distribution network, an active distribution network-network planning model considering the dynamic configuration of energy storage system energy storage is constructed. This model focuses on energy storage batteries with high ease of use, high modularity, and strong mobility. The route location planning involving different load operating scenarios in spring, summer, autumn, and winter is constructed. The objective function includes the revenue from selling electricity in the distribution network, the expenditure on purchasing electricity in the distribution network, and the cost during the planned construction period. The constraints include three major constraints: distribution network operation, network topology, and energy storage system operation. Three numerical examples are set up to analyze the impact of energy storage system dynamic configuration on grid planning. The results confirmed the active distribution network-grid planning model for dynamic configuration of energy storage systems. Both Example 2 and Example 3 had 3 ESS configurations. Case 3 showed different access methods for ESS in different seasons. The access nodes for ESS in spring and winter were 4, 5, and 6, while the access nodes for summer and autumn were 3, 5, and 6. After applying the proposed method, the daily energy storage investment of commercial, residential, and industrial users gradually stabilized. The reliability of electricity consumption was improved, with an improvement rate of about 40%. The research has brought considerable economic benefits to distribution network operators. It has forward-looking academic value in the joint planning of grid structures and energy storage.