Get 2 points of certain part of Edge Collider 2D

Hey guys, I'd like my enemy to get automatic coordinates for a segment of the edge collider 2d he is on. Please see image below. I suppose I need to raycast on the ground to get the collider on hit, but then how can I get the previous and next point in world coordinates ? The hit won't actually create a collider point that I can count on to get my points :/

Any help would be appreciated =)