(a) A child taken into custody shall not be placed in detention or shelter care without a court order unless shelter care is required to:
(i) Protect the child's person;
(ii) Prevent the child from being removed from the jurisdiction of the court; or (iii) Provide the child having no parent, guardian, custodian or other responsible adult with supervision and care and return him to the court when required.
(b) Any person taking a child into custody shall as soon as possible notify the child's parent, guardian or custodian. Unless the child's detention or shelter care is authorized by a court order issued pursuant to this act or required for one (1) of the reasons in subsection (a) of this section, the child shall be released to the care of his parent, guardian, custodian or other responsible adult upon that person's written promise to present the child before the court upon request.