You can do this if you use a Canon Intervalometer: TC80N3. Alternately some new cameras have intervalometers built in. You would need to have something like this to trigger the capture for Lightroom.
If EOS utility can save the files to a specific folder, you can set that up in Lightroom as a watched folder and it will automatically import every time a new image is deposited. Lightroom itself cannot function as an intervalometer. There are many other tethered shooting apps that can do this sort of stuff though.