An underground pipe repair device is for a joint between a service pipe and a branch pipe. The underground pipe repair device may include a T-shaped joint liner having a base portion extending laterally in the service pipe, and an arm portion extending vertically into the branch pipe, the base portion including a first base surface facing the service pipe, and a second base surface opposite the first base surface. The underground pipe repair device may include an annular body aligned with an opening for the branch pipe and coupled to the second base surface of the T-shaped joint liner. The annular body may have a physical characteristic to be detected by a robot device within the service pipe.