Sticking a camera on the end of a rope isn't a good idea as it will inevitable hit the side of the shaft at some point and you'll probably need to buy a new one - and as some shafts are a bit on the wet side that'll have the same result. I built a casing to hold a digital camera with the facility to take video (Canon Powershot A1200 to be precise) out of bits of wood and aluminium and plastic tube that I had lying around, illumination via an LED Lenser P7. Amazingly, as it cost nothing to build, it works! Hang it on the end of a rope, set it running, switch on the light, drop it down (needs a bit of practice to minimise the rotation effect), pull it back up and, hey presto, you can see what's at the bottom (and anything interesting on the way down).