It's one minus the probability that the door doesn't get answered on the first five knocks. The probability that it doesn't get answered on any one knock is $9/10$ so your answer is
$$1-\Bigl( \frac{9}{10}\Bigr)^5.$$
This assumes that whether or not the doorman opens the door on the first knock is independent of whether he opens it on the second knock, etcetera.