A millionaire businessman who died when a Segway scooter built by his own company plunged over a cliff and into a river was a “much-loved father and husband”, his family have said.

Jimi Heselden, 62, was found in the River Wharfe at Boston Spa, near Wetherby, on Sunday morning and died at the scene.

It appeared Mr Heselden, whose company builds and markets the Segway upright scooter, accidentally drove over a cliff into the river. It is understood one of the machines was found nearby.

Members of his family, many of whom paid an emotional visit to the scene of the accident yesterday afternoon, described their grief at Mr Heselden’s death.

A family spokesman said: “Our family has been left devastated by the sudden and tragic loss of a much-loved father and husband.

“While we have been touched by the many kind tributes to his life and career, some of the speculation as to cause of his death has been deeply upsetting. There is absolutely nothing to suggest it was anything other than a tragic accident.

“The exact circumstances of the accident are still being clarified and will, of course, be the subject of an inquest. We would once again like to thank Jimi's many friends and colleagues for their help and condolences at this very distressing time for the family.”

There was little evidence of the accident on Monday in the remote wooded area next to the River Wharfe, which is not far from the tycoon’s estate in the countryside west of York.

Mr Heselden made his fortune when his Leeds-based firm Hesco Bastion developed the “blast wall” basket, which protect soldiers in Afghanistan and Iraq, as a replacement for traditional sandbags.

Mr Heselden, of Thorp Arch, who had a fortune reported to be £166 million, making him one of the top 400 richest people in the UK, gave more than £20 million to charity.